add N010/stretch3/dr_on/seed_2025

N010/stretch3/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 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 tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "4507 rows vs ceil(9013/2) = 4507"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..9073, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "91.69 MB, 4507 frames at 25 fps, mean luma 79..133, std 15, new picture 4506x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "4507 vs 4507"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "121.73 MB, 4507 frames at 25 fps, mean luma 72..157, std 34, new picture 4506x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "4507 vs 4507"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationhammer/000/sim_info"
+  }
+ }
+}

N010/stretch3/dr_on/seed_2025/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n010_str_on_2025/out  task=N010  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n010_str_on_2025/out/record/stationhammer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 4507  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: 4507 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 tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'
+rows 4507 at dataset fps 25 = 180.28 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4507 rows vs ceil(9013/2) = 4507
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..9073, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 91.69 MB, 4507 frames at 25 fps, mean luma 79..133, std 15, new picture 4506x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 4507 vs 4507
+[PASS] video observation.images.wrist decodes, 640x480, not black: 121.73 MB, 4507 frames at 25 fps, mean luma 72..157, std 34, new picture 4506x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 4507 vs 4507
+parquet size 4.80 MB
+[PASS] sim_info present: record/stationhammer/000/sim_info
+dataset size 218.44 MB; whole cell dir 221.0 MB
+RESULT: ALL PASS

N010/stretch3/dr_on/seed_2025/config.yaml

@@ -0,0 +1,538 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 20
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    contact_reports: true
+    physx:
+      gpu_dynamics: false
+    seed: 2025
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.06
+        - - -2.9000000000000004
+          - -1.7
+          - 0.06
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        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: 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
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+          start_state_limit_inset: 0.002
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        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: 0.003
+            angular_dead_zone: 0.03
+            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: 0.3
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            goal_cost_mode: path
+            dilate_radius: 0.25
+            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: 0.02
+            goal_yaw_threshold: 0.01
+            kp_goal_yaw: 1.5
+            min_speed: -0.3
+            max_speed: 0.3
+            w_heading: 0.5
+            min_yaw_rate: -0.35
+            max_yaw_rate: 0.35
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            goal_heading_fade_distance: 0.5
+            scan_type: 3d
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        wheel_base: 0.33
+        robot_radius: 0.65
+      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
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 170
+      min_agent_radius_cm: 28.0
+      max_agent_radius_cm: 28.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: false
+    occupancymap:
+      cell_size: 0.05
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.6
+          - 0.9
+          - 0.5
+        table_a_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 2.2
+          - 2.0
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.5
+        table_b_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      hammer_rack:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer_rack/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.53
+          - - 1.2
+            - -1.8
+            - 0.53
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_rack_1:
+          visual: {}
+          physics:
+            type: geometry
+            collision: true
+      hammer:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.602
+          - - 1.2
+            - -1.8
+            - 0.602
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+      strike_block:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/strike_block/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 2.1900000000000004
+            - 1.99
+            - 0.531
+          - - 2.21
+            - 2.01
+            - 0.531
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        strike_block_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+            track_contact_forces: true
+            prepare_contact_sensor: true
+            contact_filter_prim_paths_expr:
+            - /World/envs/env_.*/dynamic/hammer/hammer_1
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 12000
+    success_hold_frames: 3
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: stretch3
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.34
+      standoff_b: 0.36
+      lateral_a: 0.0193
+    settle_ticks: 40
+    hold_ticks: 5
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/sz850_atomic/n010_str_on_2025/out/reports.jsonl
+    carried:
+      type: rigid
+      name: hammer
+      id: 0
+    tracked:
+    - type: rigid
+      name: strike_block
+      id: 0
+    planner_seeds: lean
+    cloth_variant: null
+    record_scene_streams: true
+collect:
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.03
+      rotation_threshold: 0.02
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.1
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 1500
+      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: 100
+      debug: false
+      debug_viz: false
+    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
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 100
+  atomic_skill:
+    StationNav:
+      robot_id: 0
+      show_marker: false
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 25
+      ramp_steps: 0
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: -1
+      grasp_mode: 4
+      retrieval_mode: 4
+      reactive: false
+      viz_grasp: false
+  auto_collect:
+    max_trajectories: null
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n010_str_on_2025/out/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StationHammer:
+      robot_id: 0
+      init_limit: 60
+      max_attempt: 2
+      completion_timeout_steps: 300
+      stages:
+        turn_first: false
+        pre_strike_linear: false
+        pinch_above_centre: 0.006
+        strike_wrist_solve: true
+env_string: HammerEnv-V0

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/completed/0.json

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

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/joint_names.json

@@ -0,0 +1,19 @@
+{
+ "HelloRobot": [
+  "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"
+ ]
+}

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6914fbd34118f14b0fd19ae6168b65ea588bd4ce9cc25f4a8a13e273bc0ff75
+size 4800898

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head."], "length": 4507, "magicsim/control_steps": 9013, "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 hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front, slightly above table height."}

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.051285612156781214, 0.0, 0.017794478381834122, 0.9532914959358778, -1.2775628661300011, 0.7450328375247357, -0.6422706649405003, -0.05802902380181822, -0.286866943084586, 0.10658951439119425, 0.504770357222099], "std": [0.10464205633525428, 0.0, 0.17572986343424574, 0.9872935268101839, 1.0926583118886146, 0.08402882167772173, 0.47561664154599576, 0.20580361334674194, 0.2863481107412978, 0.3740397178068011, 0.4999772431740831], "min": [-0.038452208042144775, 0.0, -0.3499999940395355, -2.8513314723968506, -2.290942430496216, 0.5846408009529114, -1.000000238418579, -0.48924797773361206, -0.5000346302986145, -0.7105388045310974, 0.0], "max": [0.30000001192092896, 0.0, 0.3499999940395355, 2.68855357170105, 1.9259966611862183, 0.8337957859039307, 0.8951183557510376, 0.5146421194076538, 0.49999549984931946, 0.8799524307250977, 1.0], "count": [4507]}, "action_is_hold": {"mean": [0.0071000665631240295, 0.0071000665631240295, 0.0071000665631240295, 0.017084535167517196, 0.017084535167517196, 0.017084535167517196, 0.017084535167517196, 0.017084535167517196, 0.017084535167517196, 0.017084535167517196, 0.9942311959174617], "std": [0.083962227328261, 0.083962227328261, 0.083962227328261, 0.1295864723866894, 0.1295864723866894, 0.1295864723866894, 0.1295864723866894, 0.1295864723866894, 0.1295864723866894, 0.1295864723866894, 0.07573324885408593], "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": [4507]}, "observation.state": {"mean": [0.5928326635653517, -1.2372667456257758, 0.9926805458659158, 0.7559126058359064, -9.45857541271218e-07, -7.073835544822121e-08, 0.06990732461880253, 0.06990791194451192, 0.06990868517738899, 0.06990489223449987, 0.2839413936435122, -0.8395443187102956, -0.029779510576649355, 0.1062689276290715, 0.10515670212066584], "std": [0.9071731330193974, 0.9750588755710148, 1.2538556463911699, 0.1252169994379681, 6.3348939956882046e-06, 6.157957777847693e-06, 0.03632015847443887, 0.036320180053572626, 0.03632013685898449, 0.03631767216351984, 0.5157935758613521, 0.376415686037174, 0.2747808892500834, 0.11209104178251615, 0.11290944954582117], "min": [-3.1224653720855713, -1.791019320487976, -3.137296438217163, 0.4235801100730896, -7.173880294431001e-05, -9.10012677195482e-05, 0.0, 0.0, 0.0, 0.0, -0.07320793718099594, -1.047383427619934, -1.5430768728256226, -3.890772981574031e-10, -3.8269792890233134e-10], "max": [2.188646078109741, 1.3202810287475586, 3.1404409408569336, 0.8816856145858765, 7.699411798967049e-05, 1.7152926375274546e-05, 0.11872921139001846, 0.11874862015247345, 0.11876986920833588, 0.11843784153461456, 1.5713821649551392, 0.02025342360138893, 0.32366544008255005, 0.25, 0.25], "count": [4507]}, "observation.joint_vel": {"mean": [0.03210555658240361, 0.01136449311896612, 0.016290391213284055, -0.0002947349039795989, -3.181573098175002e-05, -3.4002382981996417e-06, 0.00025625225437989074, 0.0002567455586901367, 0.00025666717461721855, 0.0003614578696159517, -0.0072210542100995785, -0.0015613891865067548, -0.0044056837350225616, 0.10761639553850615, 0.13287851753418115], "std": [0.09078326256116416, 0.06463346945880871, 0.17567787023203096, 0.020849939407282875, 0.00011812349209314796, 6.201249274218877e-05, 0.007975901217533774, 0.00801275107046593, 0.008059368617348284, 0.007584164589138776, 0.05929689285501942, 0.05817156423894547, 0.06436295558155425, 0.11895244423184761, 0.1439115295042154], "min": [-0.19772985577583313, -0.061308134347200394, -0.34996986389160156, -0.1311560720205307, -0.0012195107992738485, -0.00018304085824638605, -0.06857240945100784, -0.06898429244756699, -0.06946864724159241, -0.06835488975048065, -0.677372932434082, -0.5498626232147217, -0.5466460585594177, -1.0000001192092896, -0.9999998807907104], "max": [0.2998548150062561, 0.3000059425830841, 0.3501172959804535, 0.15181148052215576, 0.001016157795675099, 0.0009134365827776492, 0.07734198868274689, 0.07765904814004898, 0.07807986438274384, 0.07806672900915146, 0.12046488374471664, 0.3602583408355713, 0.2432766556739807, 1.0000001192092896, 1.0000003576278687], "count": [4507]}, "observation.eef_pose": {"mean": [0.9531512067636501, -1.274013141727863, 0.745039876440504, -0.7543393989169644, -0.04210020485708506, -0.32114427030652176, 0.05779363528382438], "std": [0.9873791703471864, 1.0908070282293698, 0.08395613805721847, 0.26378922720407094, 0.20942744884896328, 0.2468687141146995, 0.38514566747535356], "min": [-2.8513314723968506, -2.2912087440490723, 0.5877432823181152, -1.0, -0.4750548005104065, -0.5001262426376343, -0.7297213673591614], "max": [2.6886274814605713, 1.9258720874786377, 0.8335474133491516, 0.5161247253417969, 0.512675404548645, 0.4727615416049957, 0.8799598813056946], "count": [4507]}, "observation.environment_state": {"mean": [1.1167373791984208, -1.2779750136724881, 0.7059874309519059, 0.8069602328285782, 9.939293954302639e-05, 0.07817941036912507, 0.03657113691634239, 1.2000000476837158, -1.7999999523162842, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 2.2000986277620678, 1.9983849056232046, 0.5300001005706381, 1.0, -1.1086737345180099e-06, -4.252686506622763e-07, 3.142534791877502e-08, 1.2000000476837158, -1.7999999523162842, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0, 2.200000047683716, 2.0, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0], "std": [0.7615333674705881, 1.0837548953343308, 0.11067234277993651, 0.3804366431251257, 0.0975121691182364, 0.1424018444182981, 0.4084687940950409, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 2.1242709651692952e-07, 2.2135438944484208e-07, 4.0487393381830876e-07, 0.0, 3.5399508936030735e-06, 3.0064302483951004e-06, 1.1648468232800399e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [-0.39591214060783386, -2.249220132827759, 0.5833730697631836, -0.6910005211830139, -0.2793102562427521, -0.6151489019393921, -0.6928386092185974, 1.2000000476837158, -1.7999999523162842, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 2.2000925540924072, 1.9983807802200317, 0.5299999117851257, 1.0, -9.406794561073184e-05, -0.00011093106877524406, -6.134901195764542e-05, 1.2000000476837158, -1.7999999523162842, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0, 2.200000047683716, 2.0, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0], "max": [2.6466259956359863, 1.9054269790649414, 0.8334293961524963, 1.0, 0.34677159786224365, 0.6995461583137512, 0.9834735989570618, 1.2000000476837158, -1.7999999523162842, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 2.200103282928467, 1.9983950853347778, 0.5300142765045166, 1.0, 0.00010852872219402343, 7.678969495827914e-07, 1.8667815311346203e-05, 1.2000000476837158, -1.7999999523162842, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0, 2.200000047683716, 2.0, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0], "count": [4507]}, "action.command": {"mean": [-0.16341419945740612, -1.387741849307091, 1.5200810416241466, 0.0, 0.0, 0.0, 0.0, 0.6584650112866817, 0.9470747266292706, -1.284937608120942, 0.7460421052797115, -0.6404568837875706, -0.060910002876617644, -0.28850615134731766, 0.11411134978671165, 0.5, -0.18151143691877095, -1.3672072940234896, 1.5200807353076264, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6440320042121308, -1.1728957878078135, 0.8060962125786766, -0.6919007240606357, -0.11807893774835314, -0.2565531912843608, 0.17926989960208117, 0.0, -0.18252404164347955, -1.352903786759174, 1.5200817787266048, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6440320042121308, -1.1728957878078135, 0.8060962125786766, -0.6919007240606357, -0.11807893774835314, -0.2565531912843608, 0.17926989960208117, 0.0, -0.18907111854565878, -1.3413512983240368, 1.520082159710933, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6440320042121308, -1.1728957878078135, 0.8060962125786766, -0.6919007240606357, -0.11807893774835314, -0.2565531912843608, 0.17926989960208117, 0.0, -0.1942881666680607, -1.3240908685571178, 1.5200817800515243, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6440320042121308, -1.1728957878078135, 0.8060962125786766, -0.6919007240606357, -0.11807893774835314, -0.2565531912843608, 0.17926989960208117, 0.0, -0.19011714705256552, -1.2985336977871353, 1.520082803714599, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6440320042121308, -1.1728957878078135, 0.8060962125786766, -0.6919007240606357, -0.11807893774835314, -0.2565531912843608, 0.17926989960208117, 0.0, -0.19722715349964534, -1.2825196145742024, -0.25854764038696126, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6440320042121308, -1.1728957878078135, 0.8060962125786766, -0.6919007240606357, -0.11807893774835314, -0.2565531912843608, 0.17926989960208117, 0.0, -0.17759632083738322, -1.292950303043916, 1.5545982340956925, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6440320042121308, -1.1728957878078135, 0.8060962125786766, -0.6919007240606357, -0.11807893774835314, -0.2565531912843608, 0.17926989960208117, 0.0, -0.30992723105564, -1.0187907110792316, 0.7064133817668453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.26835322336184053, -0.9819590977129332, 0.706414801332362, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.24442810864470207, -0.959255463534728, 0.706414590061019, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.2057417822455553, -0.9530978752183437, 0.7064028162997038, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.18518268080769026, -0.9293022551352069, 0.7064132774692207, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.1450772558369284, -0.8902739580524596, 0.7064129747333645, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.14176646609764948, -0.8693687858102017, 0.7064660027305734, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.11762062478390403, -0.8638899782322403, 0.7064121934039084, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.07684993355962119, -0.8415139018555632, 0.7064126120894251, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.05460283444041297, -0.7992697362239498, 0.7064133575022743, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, -0.011217375577691206, -0.7768856224260832, 0.7064421771451327, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, 0.007998418959235786, -0.7739288980015239, 0.7063908353728011, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, 0.05365863479767228, -0.7511095707503178, 0.70641073744562, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, 0.07103344161801022, -0.7076767872001294, 0.7064142832754269, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, 0.11928460594350682, -0.6868237447469754, 0.7064132204939866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, 0.1336174456678088, -0.6839678063801954, 0.7064132599631572, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, 0.18421438546911964, -0.6582797139061424, 0.7360641833623511, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, 0.19510648358977378, -0.6277881289521853, 0.37411628381925677, 0.0, 0.0, 0.0, 0.0, 2.0, 0.9594627791749579, -0.8105922685305875, 0.7933603963233474, -0.847492874266211, -0.0423615734066393, -0.2833595327819566, 0.026100495371081747, 0.0, 0.2915637112822127, -0.6244410778829443, 0.45684752034453247, 0.0, 0.0, 0.0, 0.0, 2.0, 1.113794795752537, -0.742816615973407, 0.7826827491825892, -0.8574626433221917, -0.05034548585281185, -0.23789101209614338, 0.0348585352522174, 0.0, 0.30378596801989477, -0.6199713315075708, 0.4568454230950791, 0.0, 0.0, 0.0, 0.0, 2.0, 1.113794795752537, -0.742816615973407, 0.7826827491825892, -0.8574626433221917, -0.05034548585281185, -0.23789101209614338, 0.0348585352522174, 0.0, 0.3752452435281113, -0.6121772247770054, 0.4568458193468179, 0.0, 0.0, 0.0, 0.0, 2.0, 1.113794795752537, -0.742816615973407, 0.7826827491825892, -0.8574626433221917, -0.05034548585281185, -0.23789101209614338, 0.0348585352522174, 0.0, 0.3846856790998204, -0.5883721638304985, 0.4568463792745401, 0.0, 0.0, 0.0, 0.0, 2.0, 1.113794795752537, -0.742816615973407, 0.7826827491825892, -0.8574626433221917, -0.05034548585281185, -0.23789101209614338, 0.0348585352522174, 0.0, 0.44513207447191, -0.5595939127539816, 0.4568460882780885, 0.0, 0.0, 0.0, 0.0, 2.0, 1.113794795752537, -0.742816615973407, 0.7826827491825892, -0.8574626433221917, -0.05034548585281185, -0.23789101209614338, 0.0348585352522174, 0.0, 0.4656126753038723, -0.5544254226240551, 0.45684690802897276, 0.0, 0.0, 0.0, 0.0, 2.0, 1.113794795752537, -0.742816615973407, 0.7826827491825892, -0.8574626433221917, -0.05034548585281185, -0.23789101209614338, 0.0348585352522174, 0.0, 0.507367070966404, -0.5501053939464121, 0.45684725935552045, 0.0, 0.0, 0.0, 0.0, 2.0, 1.113794795752537, -0.742816615973407, 0.7826827491825892, -0.8574626433221917, -0.05034548585281185, -0.23789101209614338, 0.0348585352522174, 0.0, 0.546574267105535, -0.5173486013402823, 0.5263952054264333, 0.0, 0.0, 0.0, 0.0, 2.0, 1.113794795752537, -0.742816615973407, 0.7826827491825892, -0.8574626433221917, -0.05034548585281185, -0.23789101209614338, 0.0348585352522174, 0.0, 0.5880801462451456, -0.5023758634381932, 0.8856393481329505, 0.0, 0.0, 0.0, 0.0, 2.0, 1.113794795752537, -0.742816615973407, 0.7826827491825892, -0.8574626433221917, -0.05034548585281185, -0.23789101209614338, 0.0348585352522174, 0.0, 0.04895310523504693, -1.1785964130562319, 0.05278736417555558, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5701703748391103, -1.4167354139612942, 0.765281870928149, -0.8702579554988117, -0.10319625421798792, -0.16021727425815385, 0.12309138477390669, 0.0, 0.11466718354404898, -1.17631911084948, 0.052786673055734576, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5701703748391103, -1.4167354139612942, 0.765281870928149, -0.8702579554988117, -0.10319625421798792, -0.16021727425815385, 0.12309138477390669, 0.0, 0.1589257308754847, -1.1729335991744192, 0.052786532872069435, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5701703748391103, -1.4167354139612942, 0.765281870928149, -0.8702579554988117, -0.10319625421798792, -0.16021727425815385, 0.12309138477390669, 0.0, 0.22895842129798263, -1.170094842227494, 0.052786022689020023, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5701703748391103, -1.4167354139612942, 0.765281870928149, -0.8702579554988117, -0.10319625421798792, -0.16021727425815385, 0.12309138477390669, 0.0, 0.26889845510808436, -1.167270855205815, -0.046321310055444216, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5701703748391103, -1.4167354139612942, 0.765281870928149, -0.8702579554988117, -0.10319625421798792, -0.16021727425815385, 0.12309138477390669, 0.0, 0.33123891362858454, -1.1681607006130093, 0.6593861459318688, 0.0, 0.0, 0.0, 0.0, 2.0, 0.5701703748391103, -1.4167354139612942, 0.765281870928149, -0.8702579554988117, -0.10319625421798792, -0.16021727425815385, 0.12309138477390669, 0.0, -0.9440449476242065, -1.7375242710113525, 0.016745280474424362, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.8614155650138855, -1.736140489578247, 0.016746170818805695, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.8309650421142578, -1.7356305122375488, 0.016745610162615776, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.7505012154579163, -1.7342829704284668, 0.016745327040553093, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.7178851962089539, -1.7337367534637451, 0.016744449734687805, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.6395869851112366, -1.732425570487976, 0.016744589433073997, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.6048054695129395, -1.731843113899231, 0.016744723543524742, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.5286725759506226, -1.7305681705474854, 0.016743989661335945, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.4917256832122803, -1.7299494743347168, 0.016745032742619514, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.41775819659233093, -1.7287107706069946, 0.016746465116739273, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.3786458373069763, -1.728055715560913, 0.016745388507843018, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.3068438768386841, -1.7268532514572144, 0.01674577221274376, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.26556599140167236, -1.7261619567871094, 0.01674404740333557, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.19592952728271484, -1.7249958515167236, 0.016745181754231453, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.15248620510101318, -1.7242683172225952, 0.01674436219036579, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.08501513302326202, -1.723138451576233, 0.016744649037718773, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, -0.03940638154745102, -1.722374677658081, 0.01674496941268444, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, 0.025940947234630585, -1.7212803363800049, 0.016746344044804573, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, 0.07400073856115341, -1.720475435256958, 0.01674589142203331, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, 0.1386469006538391, -1.7193927764892578, 0.016744304448366165, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, 0.1917526125907898, -1.718503475189209, 0.016745761036872864, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, 0.25978749990463257, -1.7173640727996826, 0.016743900254368782, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, 0.32269009947776794, -1.716310739517212, 0.016745861619710922, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, 0.39946556091308594, -1.7150249481201172, 0.016744468361139297, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, 0.47487351298332214, -1.7137621641159058, -0.5039091110229492, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0, 0.5600000023841858, -1.760699987411499, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.3047862065311641, -1.8342307129969895, 0.7197519029245936, -0.9656099068645269, -2.1950464277054574e-06, 5.121370955208865e-06, -0.09599432246873969, 0.0], "std": [1.6788844753826042, 0.5863301486170143, 1.2654197912400211, 0.0, 0.0, 0.0, 0.0, 1.4916061277019232, 0.9920490916880791, 1.0823166351725408, 0.08395134633579227, 0.4792176046628005, 0.20478609900894684, 0.2847217044406399, 0.37039796897593186, 0.5, 1.6563568699372293, 0.5924891466152713, 1.2654202520274112, 0.0, 0.0, 0.0, 0.0, 0.0, 1.225260298338175, 1.0534850008169063, 0.045322210807896404, 0.333114688035637, 0.22698559520649353, 0.21371952500896602, 0.44856435830262076, 0.0, 1.649218520623849, 0.6086213514223313, 1.2654195905174803, 0.0, 0.0, 0.0, 0.0, 0.0, 1.225260298338175, 1.0534850008169063, 0.045322210807896404, 0.333114688035637, 0.22698559520649353, 0.21371952500896602, 0.44856435830262076, 0.0, 1.6008877256474592, 0.612350437739522, 1.2654193668545766, 0.0, 0.0, 0.0, 0.0, 0.0, 1.225260298338175, 1.0534850008169063, 0.045322210807896404, 0.333114688035637, 0.22698559520649353, 0.21371952500896602, 0.44856435830262076, 0.0, 1.5945868092768913, 0.613378817238688, 1.2654203291242945, 0.0, 0.0, 0.0, 0.0, 0.0, 1.225260298338175, 1.0534850008169063, 0.045322210807896404, 0.333114688035637, 0.22698559520649353, 0.21371952500896602, 0.44856435830262076, 0.0, 1.552185218800819, 0.626748327960051, 1.2654180861049438, 0.0, 0.0, 0.0, 0.0, 0.0, 1.225260298338175, 1.0534850008169063, 0.045322210807896404, 0.333114688035637, 0.22698559520649353, 0.21371952500896602, 0.44856435830262076, 0.0, 1.5487099402269575, 0.6461689773598955, 1.450785475679516, 0.0, 0.0, 0.0, 0.0, 0.0, 1.225260298338175, 1.0534850008169063, 0.045322210807896404, 0.333114688035637, 0.22698559520649353, 0.21371952500896602, 0.44856435830262076, 0.0, 1.5107096125010882, 0.662254137456645, 1.3071420947989694, 0.0, 0.0, 0.0, 0.0, 0.0, 1.225260298338175, 1.0534850008169063, 0.045322210807896404, 0.333114688035637, 0.22698559520649353, 0.21371952500896602, 0.44856435830262076, 0.0, 1.858933346237718, 0.6993469002916113, 0.7458703172979382, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.815700765966573, 0.7143790697397449, 0.7458695646146192, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.8249159035224978, 0.7410631691083794, 0.745870710451016, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.7790200771782474, 0.7434291804411909, 0.7458781415091239, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.7882290617829553, 0.741032132214825, 0.7458702427728677, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.7463249974427753, 0.7616171138151513, 0.7458711692970328, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.7441967333811805, 0.7905068436723034, 0.7458225824278708, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.7573624754213217, 0.793151679836009, 0.7458686474455078, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.7117145453414726, 0.7898719690532687, 0.7458708752551558, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.7234929939219195, 0.8171787564808931, 0.7458705862432814, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.6814344427545564, 0.848105220751175, 0.7459076542762787, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.6906255641324328, 0.8488589634255839, 0.7458448493170725, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.6515005977587265, 0.8469047037976918, 0.7458727563249336, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.6588834728214628, 0.8782430311528523, 0.745871270198515, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.6239350963139585, 0.9074384489844413, 0.7458667405429815, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.6282984458869707, 0.910052809576625, 0.7458698609642023, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.5969628213811007, 0.9129119236937476, 0.7809988393862055, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.5990276813269844, 0.9430734782204382, 0.605525592176322, 0.0, 0.0, 0.0, 0.0, 0.0, 1.392784609404802, 1.1074275372750582, 0.05182909209517898, 0.12100753811355244, 0.16487080796323533, 0.20408520167321553, 0.33987025248329233, 0.0, 1.7852835149840531, 1.1029004600100947, 0.6660199946521177, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5476735485073165, 1.2428172785441913, 0.05447397558720976, 0.12850197844813097, 0.16061051948751703, 0.2100830223619761, 0.34347172441472007, 0.0, 1.783348756121655, 1.1081738994848143, 0.6660169079701775, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5476735485073165, 1.2428172785441913, 0.05447397558720976, 0.12850197844813097, 0.16061051948751703, 0.2100830223619761, 0.34347172441472007, 0.0, 1.7558906263336882, 1.1137157553941641, 0.6660182709139528, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5476735485073165, 1.2428172785441913, 0.05447397558720976, 0.12850197844813097, 0.16061051948751703, 0.2100830223619761, 0.34347172441472007, 0.0, 1.7505687914875128, 1.1471002470712814, 0.6660182713681363, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5476735485073165, 1.2428172785441913, 0.05447397558720976, 0.12850197844813097, 0.16061051948751703, 0.2100830223619761, 0.34347172441472007, 0.0, 1.717645571999382, 1.1842993505133288, 0.6660208318509623, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5476735485073165, 1.2428172785441913, 0.05447397558720976, 0.12850197844813097, 0.16061051948751703, 0.2100830223619761, 0.34347172441472007, 0.0, 1.7185399197656432, 1.1896947955913049, 0.6660204228266281, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5476735485073165, 1.2428172785441913, 0.05447397558720976, 0.12850197844813097, 0.16061051948751703, 0.2100830223619761, 0.34347172441472007, 0.0, 1.6738186238172907, 1.194079517558363, 0.6660176151655779, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5476735485073165, 1.2428172785441913, 0.05447397558720976, 0.12850197844813097, 0.16061051948751703, 0.2100830223619761, 0.34347172441472007, 0.0, 1.687306043744035, 1.237158739082907, 0.7803339609527281, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5476735485073165, 1.2428172785441913, 0.05447397558720976, 0.12850197844813097, 0.16061051948751703, 0.2100830223619761, 0.34347172441472007, 0.0, 1.6434195572796244, 1.2566429551335292, 1.3712114253822945, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5476735485073165, 1.2428172785441913, 0.05447397558720976, 0.12850197844813097, 0.16061051948751703, 0.2100830223619761, 0.34347172441472007, 0.0, 1.5865548253747077, 0.6723899728694946, 0.04292176650948064, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474567766070069, 0.520662980118077, 0.054221404784023076, 0.1371236835886366, 0.14054992603565522, 0.19307655956095401, 0.3396250173670302, 0.0, 1.5586738410565601, 0.6733244474529656, 0.0429222655143, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474567766070069, 0.520662980118077, 0.054221404784023076, 0.1371236835886366, 0.14054992603565522, 0.19307655956095401, 0.3396250173670302, 0.0, 1.5828543817555008, 0.6768785212174544, 0.042921976568494655, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474567766070069, 0.520662980118077, 0.054221404784023076, 0.1371236835886366, 0.14054992603565522, 0.19307655956095401, 0.3396250173670302, 0.0, 1.5626956437792925, 0.6785249289116719, 0.04292282414285651, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474567766070069, 0.520662980118077, 0.054221404784023076, 0.1371236835886366, 0.14054992603565522, 0.19307655956095401, 0.3396250173670302, 0.0, 1.5791540555491639, 0.6813671282718469, 0.07510536117401342, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474567766070069, 0.520662980118077, 0.054221404784023076, 0.1371236835886366, 0.14054992603565522, 0.19307655956095401, 0.3396250173670302, 0.0, 1.5524134146555864, 0.6786163201766306, 0.7653154419050958, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474567766070069, 0.520662980118077, 0.054221404784023076, 0.1371236835886366, 0.14054992603565522, 0.19307655956095401, 0.3396250173670302, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2057508204621832, 0.12402023380141738, 2.6727305108663742e-08, 0.07644856218792434, 1.1894964285934844e-06, 8.234203428794698e-07, 0.22921293105207402, 0.0], "min": [-3.1224653720855713, -1.77400541305542, 0.016744328662753105, 0.0, 0.0, 0.0, 0.0, -1.0, -2.8513314723968506, -2.290942430496216, 0.5846408009529114, -1.000000238418579, -0.48924797773361206, -0.5000346302986145, -0.7105388045310974, 0.0, -3.0927233695983887, -1.7735073566436768, 0.016742629930377007, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -2.290942430496216, 0.7197518348693848, -1.000000238418579, -0.47506052255630493, -0.4751276969909668, -0.7105388045310974, 0.0, -3.0798585414886475, -1.7732919454574585, 0.016744857653975487, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -2.290942430496216, 0.7197518348693848, -1.000000238418579, -0.47506052255630493, -0.4751276969909668, -0.7105388045310974, 0.0, -2.9796159267425537, -1.7716132402420044, 0.016746073961257935, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -2.290942430496216, 0.7197518348693848, -1.000000238418579, -0.47506052255630493, -0.4751276969909668, -0.7105388045310974, 0.0, -2.9689176082611084, -1.7714340686798096, 0.01674460805952549, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -2.290942430496216, 0.7197518348693848, -1.000000238418579, -0.47506052255630493, -0.4751276969909668, -0.7105388045310974, 0.0, -2.866509437561035, -1.769719123840332, 0.016750793904066086, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -2.290942430496216, 0.7197518348693848, -1.000000238418579, -0.47506052255630493, -0.4751276969909668, -0.7105388045310974, 0.0, -2.8579773902893066, -1.7695761919021606, -2.0640335083007812, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -2.290942430496216, 0.7197518348693848, -1.000000238418579, -0.47506052255630493, -0.4751276969909668, -0.7105388045310974, 0.0, -2.7534022331237793, -1.7678248882293701, 0.01674126274883747, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -2.290942430496216, 0.7197518348693848, -1.000000238418579, -0.47506052255630493, -0.4751276969909668, -0.7105388045310974, 0.0, -2.747036933898926, -1.7677183151245117, 0.016744954511523247, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.6402957439422607, -1.7659307718276978, 0.016748376190662384, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.636096715927124, -1.7658604383468628, 0.016745517030358315, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.5271880626678467, -1.7640365362167358, 0.016715945675969124, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.525155782699585, -1.7640025615692139, 0.016745202243328094, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.4210784435272217, -1.762259602546692, 0.016746174544095993, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.4142167568206787, -1.762144684791565, 0.01690230518579483, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.4140827655792236, -1.7621424198150635, 0.016745558008551598, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.30330228805542, -1.7602871656417847, 0.01674286276102066, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.3010027408599854, -1.7602486610412598, 0.016744747757911682, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.1923880577087402, -1.758429765701294, 0.016738077625632286, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.187922954559326, -1.7583550214767456, 0.0167449489235878, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.0814735889434814, -1.7565723657608032, 0.016737019643187523, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -2.074843168258667, -1.7564613819122314, 0.016745159402489662, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.9705591201782227, -1.7547149658203125, 0.01675003208220005, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.9617633819580078, -1.7545676231384277, 0.01674545556306839, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.859645128250122, -1.7528574466705322, 0.01674630120396614, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.8486835956573486, -1.752673864364624, 0.016744492575526237, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.7487306594848633, -1.7510000467300415, 0.016744565218687057, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.735603928565979, -1.7507802248001099, 0.016744686290621758, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.6378161907196045, -1.7491426467895508, 0.016742795705795288, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.6225237846374512, -1.7488865852355957, 0.01674497127532959, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.5269017219543457, -1.74728524684906, 0.0167419221252203, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.5094441175460815, -1.7469929456710815, 0.016745207831263542, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.4159873723983765, -1.7454278469085693, 0.016747111454606056, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.3963643312454224, -1.7450991868972778, 0.016745474189519882, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.3050730228424072, -1.743570327758789, 0.016745710745453835, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.2832844257354736, -1.7432054281234741, 0.016745755448937416, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.1941585540771484, -1.7417128086090088, 0.016744645312428474, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.170204520225525, -1.7413116693496704, 0.016744747757911682, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.0832444429397583, -1.739855408668518, 0.016743525862693787, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -1.0571246147155762, -1.7394180297851562, -0.13576389849185944, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -0.9723299145698547, -1.7379980087280273, 0.01674717850983143, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -0.3247511386871338, -0.4751276969909668, -0.6997738480567932, 0.0, -0.9440449476242065, -1.7375242710113525, 0.016745280474424362, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.8614155650138855, -1.736140489578247, 0.016746170818805695, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.8309650421142578, -1.7356305122375488, 0.016745610162615776, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.7505012154579163, -1.7342829704284668, 0.016745327040553093, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.7178851962089539, -1.7337367534637451, 0.016744449734687805, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.6395869851112366, -1.732425570487976, 0.016744589433073997, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.6048054695129395, -1.731843113899231, 0.016744723543524742, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.5286725759506226, -1.7305681705474854, 0.016743989661335945, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.4917256832122803, -1.7299494743347168, 0.016745032742619514, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.41775819659233093, -1.7287107706069946, 0.016746465116739273, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.3786458373069763, -1.728055715560913, 0.016745388507843018, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.3068438768386841, -1.7268532514572144, 0.01674577221274376, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.26556599140167236, -1.7261619567871094, 0.01674404740333557, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.19592952728271484, -1.7249958515167236, 0.016745181754231453, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.15248620510101318, -1.7242683172225952, 0.01674436219036579, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.08501513302326202, -1.723138451576233, 0.016744649037718773, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, -0.03940638154745102, -1.722374677658081, 0.01674496941268444, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, 0.025940947234630585, -1.7212803363800049, 0.016746344044804573, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, 0.07400073856115341, -1.720475435256958, 0.01674589142203331, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, 0.1386469006538391, -1.7193927764892578, 0.016744304448366165, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, 0.1917526125907898, -1.718503475189209, 0.016745761036872864, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, 0.25978749990463257, -1.7173640727996826, 0.016743900254368782, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, 0.32269009947776794, -1.716310739517212, 0.016745861619710922, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, 0.39946556091308594, -1.7150249481201172, 0.016744468361139297, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, 0.47487351298332214, -1.7137621641159058, -0.5039091110229492, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0, 0.5600000023841858, -1.760699987411499, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.8513314723968506, -1.966620683670044, 0.7197518348693848, -1.000000238418579, -5.224330379860476e-06, 2.6447978598298505e-06, -0.6997738480567932, 0.0], "max": [2.1602542400360107, -0.36002978682518005, 3.0424890518188477, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.9259966611862183, 0.8337957859039307, 0.8951183557510376, 0.5146421194076538, 0.49999549984931946, 0.8799524307250977, 1.0, 2.161280393600464, -0.30733680725097656, 3.0424890518188477, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8299256563186646, 0.5160864591598511, 0.3723786771297455, 0.293414443731308, 0.8799524307250977, 0.0, 2.162663221359253, -0.23632635176181793, 3.0424890518188477, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8299256563186646, 0.5160864591598511, 0.3723786771297455, 0.293414443731308, 0.8799524307250977, 0.0, 2.1631691455841064, -0.2103419303894043, 3.0424890518188477, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8299256563186646, 0.5160864591598511, 0.3723786771297455, 0.293414443731308, 0.8799524307250977, 0.0, 2.163642406463623, -0.18603305518627167, 3.0424907207489014, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8299256563186646, 0.5160864591598511, 0.3723786771297455, 0.293414443731308, 0.8799524307250977, 0.0, 2.165057897567749, -0.11334709823131561, 3.0424892902374268, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8299256563186646, 0.5160864591598511, 0.3723786771297455, 0.293414443731308, 0.8799524307250977, 0.0, 2.1665709018707275, -0.035650841891765594, 1.5601965188980103, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8299256563186646, 0.5160864591598511, 0.3723786771297455, 0.293414443731308, 0.8799524307250977, 0.0, 2.1669466495513916, -0.01635226607322693, 3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8299256563186646, 0.5160864591598511, 0.3723786771297455, 0.293414443731308, 0.8799524307250977, 0.0, 2.1672983169555664, 0.0017019398510456085, 1.5601966381072998, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1688356399536133, 0.08064256608486176, 1.5601965188980103, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1704788208007812, 0.16502505540847778, 1.5601963996887207, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.170724391937256, 0.17763739824295044, 1.5601966381072998, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1709542274475098, 0.18943654000759125, 1.5601965188980103, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1726133823394775, 0.27463221549987793, 1.5601963996887207, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.174386739730835, 0.36570096015930176, 1.5601965188980103, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.17450213432312, 0.3716270923614502, 1.5601966381072998, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.174610137939453, 0.37717118859291077, 1.5601966381072998, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.176391124725342, 0.4686218798160553, 1.5601966381072998, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1782658100128174, 0.5648887753486633, 1.5601965188980103, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1782798767089844, 0.5656166672706604, 1.5601966381072998, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.178295135498047, 0.5663958787918091, 1.5601965188980103, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.180168867111206, 0.6626114845275879, 1.560200572013855, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1819188594818115, 0.7524722218513489, 1.5601969957351685, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1820578575134277, 0.7596063613891602, 1.5601965188980103, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.182206630706787, 0.7672452926635742, 1.6912803649902344, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1839466094970703, 0.8566012382507324, 1.5513256788253784, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298893570899963, -0.5767824649810791, 0.3463744521141052, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1855874061584473, 0.9408609867095947, 1.5513297319412231, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298539519309998, -0.5898845791816711, 0.3398655354976654, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.185854196548462, 0.9545642733573914, 1.55132257938385, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298539519309998, -0.5898845791816711, 0.3398655354976654, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1861443519592285, 0.9694622159004211, 1.5513250827789307, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298539519309998, -0.5898845791816711, 0.3398655354976654, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1878373622894287, 1.0564002990722656, 1.551325798034668, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298539519309998, -0.5898845791816711, 0.3398655354976654, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.189723253250122, 1.1532466411590576, 1.5513296127319336, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298539519309998, -0.5898845791816711, 0.3398655354976654, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1899900436401367, 1.1669498682022095, 1.5513299703598022, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298539519309998, -0.5898845791816711, 0.3398655354976654, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1902410984039307, 1.1798450946807861, 1.5513256788253784, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298539519309998, -0.5898845791816711, 0.3398655354976654, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.192368984222412, 1.2891180515289307, 1.8092612028121948, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298539519309998, -0.5898845791816711, 0.3398655354976654, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.180000066757202, 1.340000033378601, 3.1415927410125732, 0.0, 0.0, 0.0, 0.0, 2.0, 2.68855357170105, 1.8200398683547974, 0.8298539519309998, -0.5898845791816711, 0.3398655354976654, 5.701345344277797e-06, 0.5759063363075256, 0.0, 1.93837308883667, -0.37785065174102783, 0.1039026752114296, 0.0, 0.0, 0.0, 0.0, 2.0, 2.6600184440612793, -0.3720085322856903, 0.8298539519309998, -0.6652711629867554, 0.005602434277534485, 5.701345344277797e-06, 0.5759063363075256, 0.0, 1.970883846282959, -0.37446048855781555, 0.10390257835388184, 0.0, 0.0, 0.0, 0.0, 2.0, 2.6600184440612793, -0.3720085322856903, 0.8298539519309998, -0.6652711629867554, 0.005602434277534485, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.0439388751983643, -0.36684244871139526, 0.10390209406614304, 0.0, 0.0, 0.0, 0.0, 2.0, 2.6600184440612793, -0.3720085322856903, 0.8298539519309998, -0.6652711629867554, 0.005602434277534485, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.0899646282196045, -0.36204299330711365, 0.10390259325504303, 0.0, 0.0, 0.0, 0.0, 2.0, 2.6600184440612793, -0.3720085322856903, 0.8298539519309998, -0.6652711629867554, 0.005602434277534485, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.1495048999786377, -0.3558342456817627, 0.016745014116168022, 0.0, 0.0, 0.0, 0.0, 2.0, 2.6600184440612793, -0.3720085322856903, 0.8298539519309998, -0.6652711629867554, 0.005602434277534485, 5.701345344277797e-06, 0.5759063363075256, 0.0, 2.180000066757202, -0.36000001430511475, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.6600184440612793, -0.3720085322856903, 0.8298539519309998, -0.6652711629867554, 0.005602434277534485, 5.701345344277797e-06, 0.5759063363075256, 0.0, -0.9440449476242065, -1.7375242710113525, 0.016745280474424362, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.8614155650138855, -1.736140489578247, 0.016746170818805695, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.8309650421142578, -1.7356305122375488, 0.016745610162615776, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.7505012154579163, -1.7342829704284668, 0.016745327040553093, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.7178851962089539, -1.7337367534637451, 0.016744449734687805, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.6395869851112366, -1.732425570487976, 0.016744589433073997, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.6048054695129395, -1.731843113899231, 0.016744723543524742, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.5286725759506226, -1.7305681705474854, 0.016743989661335945, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.4917256832122803, -1.7299494743347168, 0.016745032742619514, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.41775819659233093, -1.7287107706069946, 0.016746465116739273, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.3786458373069763, -1.728055715560913, 0.016745388507843018, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.3068438768386841, -1.7268532514572144, 0.01674577221274376, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.26556599140167236, -1.7261619567871094, 0.01674404740333557, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.19592952728271484, -1.7249958515167236, 0.016745181754231453, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.15248620510101318, -1.7242683172225952, 0.01674436219036579, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.08501513302326202, -1.723138451576233, 0.016744649037718773, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, -0.03940638154745102, -1.722374677658081, 0.01674496941268444, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, 0.025940947234630585, -1.7212803363800049, 0.016746344044804573, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, 0.07400073856115341, -1.720475435256958, 0.01674589142203331, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, 0.1386469006538391, -1.7193927764892578, 0.016744304448366165, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, 0.1917526125907898, -1.718503475189209, 0.016745761036872864, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, 0.25978749990463257, -1.7173640727996826, 0.016743900254368782, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, 0.32269009947776794, -1.716310739517212, 0.016745861619710922, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, 0.39946556091308594, -1.7150249481201172, 0.016744468361139297, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, 0.47487351298332214, -1.7137621641159058, -0.5039091110229492, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0, 0.5600000023841858, -1.760699987411499, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8288059234619141, -1.508726716041565, 0.7197519540786743, -0.7143645882606506, -8.209230486500019e-07, 5.701345344277797e-06, 0.15104953944683075, 0.0], "count": [4507]}, "action.applied": {"mean": [0.0321110356533615, 0.011361898717469234, 0.017794478381834122, 0.755908022599763, 0.0699208168901039, 0.0699208168901039, 0.0699208168901039, 0.0699208168901039, 0.28295088497128745, -0.8395481372556757, -0.030737439811151814, 0.09446416685156424, 0.09446416685156424], "std": [0.09078629371220946, 0.0646359920685122, 0.17572986343424574, 0.1252627455607305, 0.036289116114094674, 0.036289116114094674, 0.036289116114094674, 0.036289116114094674, 0.5149177306666963, 0.37642755410945333, 0.2774028248801459, 0.12121288254112987, 0.12121288254112987], "min": [-0.19705602526664734, -0.061311718076467514, -0.3499999940395355, 0.4221877157688141, 0.0, 0.0, 0.0, 0.0, -0.07324515283107758, -1.0471898317337036, -1.5434179306030273, 0.0, 0.0], "max": [0.29980242252349854, 0.29999345541000366, 0.3499999940395355, 0.8817265033721924, 0.11906331777572632, 0.11906331777572632, 0.11906331777572632, 0.11906331777572632, 1.5708141326904297, 0.020918693393468857, 0.3249903619289398, 0.25, 0.25], "count": [4507]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [4507]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [4507]}, "sim_step_idx": {"mean": [4567.0], "std": [2602.1175991872465], "min": [61.0], "max": [9073.0], "count": [4507]}, "timestamp": {"mean": [90.11999999918416], "std": [52.04235198156765], "min": [0.0], "max": [180.24000549316406], "count": [4507]}, "frame_index": {"mean": [2253.0], "std": [1301.0587995936232], "min": [0.0], "max": [4506.0], "count": [4507]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [4507]}, "index": {"mean": [2253.0], "std": [1301.0587995936232], "min": [0.0], "max": [4506.0], "count": [4507]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [4507]}, "next.done": {"mean": [0.00022187708009762592], "std": [0.014893886351753639], "min": [0.0], "max": [1.0], "count": [4507]}, "observation.images.head": {"mean": [[[0.539243088355849]], [[0.3975941656578734]], [[0.2361272135761659]]], "std": [[[0.10824486758692956]], [[0.10210140963267554]], [[0.10023164580598258]]], "min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[0.984313725490196]], [[0.9803921568627451]], [[0.9764705882352941]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5845668698695193]], [[0.46374865004642346]], [[0.3175063578913787]]], "std": [[[0.18987482443035822]], [[0.16985678839384913]], [[0.1550419201934753]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.9882352941176471]], [[0.9882352941176471]]], "count": [100]}}}

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,340 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationHammer",
+ "subsample_every": 2,
+ "control_steps": 9013,
+ "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": [
+      4.241645274291938,
+      -0.8293375663428891,
+      0.21999985587245052
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999998,
+       1.0,
+       1.0
+      ],
+      "center": [
+       -3.3306690738754696e-16,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "table_b_1",
+     "cat_name": "table_b",
+     "inst_id": 1,
+     "noun": "table b",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      5.930844245271788,
+      2.7184232537294863,
+      0.21999980902117827
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999998,
+       1.0,
+       1.0
+      ],
+      "center": [
+       1.1102230246251565e-16,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "hammer_rack_1",
+     "cat_name": "hammer_rack",
+     "inst_id": 1,
+     "noun": "hammer rack",
+     "color": null,
+     "size": "medium",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.241645282926976,
+      -0.829337567152831,
+      0.46999985587245036
+     ],
+     "bbox": {
+      "extent": [
+       0.30000001192092896,
+       0.14000000059604645,
+       0.06299999957531688
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.03149999989941715
+      ]
+     }
+    },
+    {
+     "id": "hammer_1",
+     "cat_name": "hammer",
+     "inst_id": 1,
+     "noun": "hammer",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      4.2416451796326005,
+      -0.8293377414900824,
+      0.5409996284211289
+     ],
+     "bbox": {
+      "extent": [
+       0.24200014806728895,
+       0.07000028130777214,
+       0.028001358084356665
+      ],
+      "center": [
+       0.007000009785308445,
+       -1.184064122791706e-08,
+       -2.890550794831803e-07
+      ]
+     }
+    },
+    {
+     "id": "strike_block_1",
+     "cat_name": "strike_block",
+     "inst_id": 1,
+     "noun": "strike block",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      5.930640674415423,
+      2.716817821836799,
+      0.4699998996220686
+     ],
+     "bbox": {
+      "extent": [
+       0.07000005965790004,
+       0.07000027578288498,
+       0.04000049922041071
+      ],
+      "center": [
+       1.0408340855860843e-17,
+       2.220446049250313e-16,
+       0.019999999999999962
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "hammer_1",
+     "relation": "on_top_of",
+     "object": "hammer_rack_1"
+    },
+    {
+     "subject": "strike_block_1",
+     "relation": "on_top_of",
+     "object": "table_b_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        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": [
+      3.4456567559954956,
+      1.1502700761396794,
+      1.235722851205268
+     ],
+     "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": [
+      3.4178479708160707,
+      1.2225836672123016,
+      -0.0036021084575636585
+     ],
+     "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": [
+       -3.1224653645201648,
+       -1.774005361530433,
+       0.06
+      ],
+      "ori": [
+       0.9956018924713135,
+       0.0,
+       0.0,
+       0.09368491917848587
+      ]
+     },
+     "facing_yaw_deg": 10.751267261298564,
+     "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 hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[strike block]\n\n                  [hamm[hammer]\n\n\n\n\n\n                       [robot]"
+  },
+  "task": {
+   "task_type": "StationHammer",
+   "instruction": "Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationhammer the 1.5707963267948966.",
+   "task_id": "N010",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/lerobot_v21/meta/info.json

@@ -0,0 +1,284 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 4507,
+    "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": [
+                35
+            ],
+            "names": [
+                "object_pose.hammer.0",
+                "object_pose.hammer.1",
+                "object_pose.hammer.2",
+                "object_pose.hammer.3",
+                "object_pose.hammer.4",
+                "object_pose.hammer.5",
+                "object_pose.hammer.6",
+                "object_pose.hammer_rack.0",
+                "object_pose.hammer_rack.1",
+                "object_pose.hammer_rack.2",
+                "object_pose.hammer_rack.3",
+                "object_pose.hammer_rack.4",
+                "object_pose.hammer_rack.5",
+                "object_pose.hammer_rack.6",
+                "object_pose.strike_block.0",
+                "object_pose.strike_block.1",
+                "object_pose.strike_block.2",
+                "object_pose.strike_block.3",
+                "object_pose.strike_block.4",
+                "object_pose.strike_block.5",
+                "object_pose.strike_block.6",
+                "object_pose.table_a.0",
+                "object_pose.table_a.1",
+                "object_pose.table_a.2",
+                "object_pose.table_a.3",
+                "object_pose.table_a.4",
+                "object_pose.table_a.5",
+                "object_pose.table_a.6",
+                "object_pose.table_b.0",
+                "object_pose.table_b.1",
+                "object_pose.table_b.2",
+                "object_pose.table_b.3",
+                "object_pose.table_b.4",
+                "object_pose.table_b.5",
+                "object_pose.table_b.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                1072
+            ],
+            "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
+            }
+        }
+    }
+}

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 00:53:49"
+    },
+    "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": "stationhammer/000",
+        "task_type": "StationHammer"
+    }
+}

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/lerobot_v21/meta/tasks.jsonl

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

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bcceac57e606c225bb74741c61580f5e1de810e8289f228dbdf1edc1750781c
+size 91686269

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a94db45075baf670a1ef6706026c3ea07766d82cec15c52e7bf9933605348f0d
+size 121725571

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/run_meta.json

@@ -0,0 +1,736 @@
+{
+    "run_id": "stationhammer/000",
+    "created": "2026-11-08 00:24:29",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n010_str_on_2025/out/record",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 20
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                },
+                "contact_reports": true,
+                "physx": {
+                    "gpu_dynamics": false
+                },
+                "seed": 2025
+            },
+            "robot": {
+                "HelloRobot": {
+                    "name": "hellorobot",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.5,
+                                -2.3,
+                                0.06
+                            ],
+                            [
+                                -2.9000000000000004,
+                                -1.7,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0.0,
+                                0.0,
+                                -20.0
+                            ],
+                            [
+                                0.0,
+                                0.0,
+                                20.0
+                            ]
+                        ],
+                        "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": 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,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 1.0,
+                            "seed_use_live_joint_pos": true,
+                            "mode": "position",
+                            "start_state_limit_inset": 0.002,
+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4
+                        },
+                        "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": 0.003,
+                                "angular_dead_zone": 0.03,
+                                "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": 0.3,
+                                "w_goal": 6.0,
+                                "w_path": 8.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "goal_cost_mode": "path",
+                                "dilate_radius": 0.25,
+                                "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": 0.02,
+                                "goal_yaw_threshold": 0.01,
+                                "kp_goal_yaw": 1.5,
+                                "min_speed": -0.3,
+                                "max_speed": 0.3,
+                                "w_heading": 0.5,
+                                "min_yaw_rate": -0.35,
+                                "max_yaw_rate": 0.35,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "goal_heading_fade_distance": 0.5,
+                                "scan_type": "3d"
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "wheel_base": 0.33,
+                        "robot_radius": 0.65
+                    },
+                    "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"
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 170,
+                    "min_agent_radius_cm": 28.0,
+                    "max_agent_radius_cm": 28.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": false
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            },
+            "scene": {
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "background": {
+                    "intensity": [
+                        1000,
+                        1000
+                    ]
+                },
+                "objects": {
+                    "table_a": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                -1.8,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.6,
+                                0.9,
+                                0.5
+                            ]
+                        },
+                        "table_a_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "table_b": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.2,
+                                2.0,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.5
+                            ]
+                        },
+                        "table_b_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "hammer_rack": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileDaily/hammer_rack/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.53
+                                ],
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.53
+                                ]
+                            ],
+                            "ori": [
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ],
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ]
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "hammer_rack_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "hammer": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileDaily/hammer/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.602
+                                ],
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.602
+                                ]
+                            ],
+                            "ori": [
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ],
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ]
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "hammer_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "strike_block": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileDaily/strike_block/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                [
+                                    2.1900000000000004,
+                                    1.99,
+                                    0.531
+                                ],
+                                [
+                                    2.21,
+                                    2.01,
+                                    0.531
+                                ]
+                            ],
+                            "ori": [
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ],
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ]
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "strike_block_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                },
+                                "track_contact_forces": true,
+                                "prepare_contact_sensor": true,
+                                "contact_filter_prim_paths_expr": [
+                                    "/World/envs/env_.*/dynamic/hammer/hammer_1"
+                                ]
+                            }
+                        }
+                    }
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 12000,
+                "success_hold_frames": 3
+            },
+            "station": {
+                "level": "easy",
+                "agent_id": "a02",
+                "embodiment": "stretch3",
+                "task_version": "EXT60-MobileAvatar-v3",
+                "execution_mode": "expert_collect",
+                "layout": {
+                    "table_h": 0.5,
+                    "standoff": 0.34,
+                    "standoff_b": 0.36,
+                    "lateral_a": 0.0193
+                },
+                "settle_ticks": 40,
+                "hold_ticks": 5,
+                "judge_timeout_ticks": 300,
+                "default_avoid": [],
+                "report_jsonl": "/mnt/scratch/sz850_atomic/n010_str_on_2025/out/reports.jsonl",
+                "carried": {
+                    "type": "rigid",
+                    "name": "hammer",
+                    "id": 0
+                },
+                "tracked": [
+                    {
+                        "type": "rigid",
+                        "name": "strike_block",
+                        "id": 0
+                    }
+                ],
+                "planner_seeds": "lean",
+                "cloth_variant": null,
+                "record_scene_streams": true
+            },
+            "command": {
+                "StationHammer": {
+                    "robot_id": 0,
+                    "init_limit": 60,
+                    "max_attempt": 2,
+                    "completion_timeout_steps": 300,
+                    "stages": {
+                        "turn_first": false,
+                        "pre_strike_linear": false,
+                        "pinch_above_centre": 0.006,
+                        "strike_wrist_solve": true
+                    }
+                }
+            }
+        },
+        "collect": {
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.03,
+                    "rotation_threshold": 0.02,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.1,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1500,
+                    "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": 100,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "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
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 100
+                }
+            },
+            "atomic_skill": {
+                "StationNav": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "Move": {
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "obstacle_avoid_paths": [],
+                    "obstacle_ignore_paths": [],
+                    "close_value": 1.0,
+                    "open_value": 0.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                },
+                "Grasp": {
+                    "pre_grasp_offset": 0.1,
+                    "retrieval_offset": 0.1,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "reactive": false,
+                    "viz_grasp": false
+                }
+            },
+            "auto_collect": {
+                "max_trajectories": null
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/sz850_atomic/n010_str_on_2025/out/record",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "command": {
+                "StationHammer": {
+                    "robot_id": 0,
+                    "init_limit": 60,
+                    "max_attempt": 2,
+                    "completion_timeout_steps": 300,
+                    "stages": {
+                        "turn_first": false,
+                        "pre_strike_linear": false,
+                        "pinch_above_centre": 0.006,
+                        "strike_wrist_solve": true
+                    }
+                }
+            }
+        },
+        "env_string": "HammerEnv-V0"
+    },
+    "git_sha": "81e58ce6a60d2ff48e90916e1ff031fc2e38c289",
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42ec5bae24a9c12dded8303a2fb0b52d8ae9ab3233c82fe171c55c0fe2259d9a
+size 1074348

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,377 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationhammer/000",
+    "task_type": "StationHammer",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    -1.8,
+                                    0.28
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.6,
+                                    0.9,
+                                    0.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.2,
+                                    2.0,
+                                    0.28
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "hammer_rack": [
+                        {
+                            "asset": "/scratch/sz850/magicsim_atomic/MagicSim3/Assets/Object/MobileDaily/hammer_rack/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    -1.8,
+                                    0.53
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "hammer": [
+                        {
+                            "asset": "/scratch/sz850/magicsim_atomic/MagicSim3/Assets/Object/MobileDaily/hammer/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    1.1999999284744263,
+                                    -1.8000000715255737,
+                                    0.6009997725486755
+                                ],
+                                "ori": [
+                                    1.0,
+                                    6.2830686147208326e-06,
+                                    1.4647339412476867e-06,
+                                    -1.1333671778857024e-08
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -7.315662514884025e-06,
+                                    3.3235402952414006e-05,
+                                    2.686299558263272e-05
+                                ],
+                                "angular_velocity": [
+                                    -0.005169757641851902,
+                                    -0.0007502932567149401,
+                                    -0.00012132742995163426
+                                ]
+                            }
+                        }
+                    ],
+                    "strike_block": [
+                        {
+                            "asset": "/scratch/sz850/magicsim_atomic/MagicSim3/Assets/Object/MobileDaily/strike_block/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    2.2000985145568848,
+                                    1.9983848333358765,
+                                    0.5300000905990601
+                                ],
+                                "ori": [
+                                    1.0,
+                                    8.842532110975299e-07,
+                                    -3.7475248859664134e-07,
+                                    -2.9451303618088787e-09
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "track_contact_forces": true,
+                                    "prepare_contact_sensor": true,
+                                    "contact_filter_prim_paths_expr": [
+                                        "/World/envs/env_.*/dynamic/hammer/hammer_1"
+                                    ],
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    1.2450211215764284e-05,
+                                    9.027847409015521e-05,
+                                    -0.00011837484635179862
+                                ],
+                                "angular_velocity": [
+                                    -0.003827865933999419,
+                                    0.00042554031824693084,
+                                    0.00010614487109705806
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "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": [
+                    [
+                        -3.1224653720855713,
+                        -1.77400541305542,
+                        0.05999999865889549,
+                        0.9956018924713135,
+                        0.0,
+                        0.0,
+                        0.09368491172790527
+                    ]
+                ],
+                "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
+                    ]
+                ]
+            }
+        }
+    }
+}

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e77887219337fb736b673b9a44c00a90eff89f4ee1bbb05117727b005c1644d5
+size 1186228

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,228 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 00:54:53"
+    },
+    "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
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationhammer/000",
+        "task_type": "StationHammer"
+    }
+}

N010/stretch3/dr_on/seed_2025/record/stationhammer/000/visual_dr.json

@@ -0,0 +1,665 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [],
+  "skip": [
+   "*Robot_*",
+   "*/Camera*",
+   "*/camera*"
+  ],
+  "light_intensity": [
+   0.6,
+   1.5
+  ],
+  "light_color_temperature": [
+   3500.0,
+   7500.0
+  ],
+  "light_jitter_deg": 5.0,
+  "dome_swap_prob": 0.5,
+  "dome_tint_sat": [
+   0.0,
+   0.15
+  ],
+  "dome_yaw": true,
+  "hdr_dir": "$MAGICSIM_ASSETS/Background",
+  "tint_sat": [
+   0.0,
+   0.3
+  ],
+  "tint_val": [
+   0.7,
+   1.0
+  ],
+  "roughness_scale": [
+   0.8,
+   1.25
+  ],
+  "material_swap": true,
+  "material_swap_prob": 1.0,
+  "material_library": "$MAGICSIM_ASSETS/Material"
+ },
+ "episodes": [
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 0,
+   "episode_seed": 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": {},
+   "physics_skip": {
+    "physics_binding": 8,
+    "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": "/scratch/sz850/magicsim_atomic/MagicSim3/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": 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": {},
+   "physics_skip": {
+    "physics_binding": 8,
+    "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": "/scratch/sz850/magicsim_atomic/MagicSim3/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}

N010/stretch3/dr_on/seed_2025/reports.jsonl

@@ -0,0 +1 @@
+{"spawn_pose": [-3.1224653720855713, -1.77400541305542, 0.18764498789040698], "base_path": [[1, -3.1224653720855713, -1.77400541305542, 0.18764498789040698], [10, -3.1224653720855713, -1.77400541305542, 0.18764498789040698], [20, -3.1224653720855713, -1.77400541305542, 0.18764498789040698], [30, -3.1224653720855713, -1.77400541305542, 0.18764498789040698], [40, -3.1224653720855713, -1.77400541305542, 0.18764498789040698], [50, -3.1224653720855713, -1.77400541305542, 0.18764498789040698], [60, -3.1224653720855713, -1.77400541305542, 0.18764498789040698], [70, -3.090027093887329, -1.7683944702148438, 0.15530339080546376], [80, -3.0305488109588623, -1.7605458498001099, 0.10728398465199505], [90, -2.9707841873168945, -1.7552839517593384, 0.06865203625168842], [100, -2.910872459411621, -1.7520725727081299, 0.03880080811489407], [110, -2.8508965969085693, -1.750421166419983, 0.016647249532118116], [120, -2.7908995151519775, -1.7498996257781982, 0.0011045197218749066], [130, -2.7309000492095947, -1.7501561641693115, -0.009151147059686763], [140, -2.6709043979644775, -1.750900149345398, -0.015207945703360934], [150, -2.6109118461608887, -1.751898169517517, -0.017782693966402613], [160, -2.550910472869873, -1.7529795169830322, -0.01796257439728397], [170, -2.4909181594848633, -1.7540136575698853, -0.01622233360171845], [180, -2.4309234619140625, -1.754911184310913, -0.013527774202998711], [190, -2.370929002761841, -1.7556135654449463, -0.009760550323010118], [200, -2.3109328746795654, -1.756089687347412, -0.0059935702047019535], [210, -2.2509334087371826, -1.7563399076461792, -0.0022331770282525503], [220, -2.190931797027588, -1.7563642263412476, 0.0015242537258018535], [230, -2.130934476852417, -1.7561991214752197, 0.004080353118605573], [240, -2.0709376335144043, -1.7558802366256714, 0.0066362204249323245], [250, -2.0109214782714844, -1.7554042339324951, 0.009185472066666029], [260, -1.9509330987930298, -1.7547805309295654, 0.011731756627766706], [270, -1.8909679651260376, -1.7540366649627686, 0.01319697292657583], [280, -1.8309446573257446, -1.7532004117965698, 0.014541622449308381], [290, -1.7709341049194336, -1.7522854804992676, 0.015886338506746787], [300, -1.7109379768371582, -1.7512941360473633, 0.016990922298541277], [310, -1.650948166847229, -1.7502706050872803, 0.017133973830540942], [320, -1.5909594297409058, -1.7492403984069824, 0.017277053313448913], [330, -1.530973196029663, -1.74819815158844, 0.017420103830210094], [340, -1.47098708152771, -1.7471541166305542, 0.017563152476691848], [350, -1.4110041856765747, -1.7460930347442627, 0.017706173175426086], [360, -1.3510215282440186, -1.7450320720672607, 0.017849225527269492], [370, -1.2910417318344116, -1.7439554929733276, 0.017992335888921674], [380, -1.231062412261963, -1.742875576019287, 0.018135357649390095], [390, -1.171085238456726, -1.7417851686477661, 0.018278406260971318], [400, -1.1111094951629639, -1.7406865358352661, 0.018421489813658095], [410, -1.0510823726654053, -1.7395720481872559, 0.01856450972183751], [420, -0.9910356402397156, -1.7384415864944458, 0.01846765943311014], [430, -0.9309858679771423, -1.7373285293579102, 0.01825014443776226], [440, -0.8709330558776855, -1.7362310886383057, 0.01803310330593008], [450, -0.8108785152435303, -1.7351456880569458, 0.01781615744158526], [460, -0.7508221864700317, -1.7340706586837769, 0.01759926718771091], [470, -0.6907633543014526, -1.733006238937378, 0.017502537472848127], [480, -0.6307035088539124, -1.731950044631958, 0.017286336390125234], [490, -0.5706427097320557, -1.7308986186981201, 0.01719076871748642], [500, -0.5105793476104736, -1.729860782623291, 0.01709511471060752], [510, -0.4505161643028259, -1.728823184967041, 0.016999758531101434], [520, -0.39045313000679016, -1.7277863025665283, 0.016904579146265388], [530, -0.33048275113105774, -1.726771354675293, 0.01692827603019373], [540, -0.2705109119415283, -1.7257590293884277, 0.01695212277627069], [550, -0.21057157218456268, -1.7247562408447266, 0.01685682620573753], [560, -0.15062178671360016, -1.7237473726272583, 0.016882164876150255], [570, -0.09070584923028946, -1.7227380275726318, 0.01691147355656809], [580, -0.03078896552324295, -1.721728801727295, 0.016823338752266128], [590, 0.029127150774002075, -1.720719575881958, 0.016855541884218873], [600, 0.08904716372489929, -1.7197346687316895, 0.016287043628250047], [610, 0.14891424775123596, -1.7187910079956055, 0.013445046535163643], [620, 0.20353850722312927, -1.7183301448822021, 0.002935066522041298], [630, 0.24959665536880493, -1.7183912992477417, -0.006009147650434919], [640, 0.2884601056575775, -1.7187659740447998, -0.013506584429643725], [650, 0.32153522968292236, -1.7193260192871094, -0.02171789044881366], [660, 0.35506874322891235, -1.7204971313476562, -0.054120785936086345], [670, 0.38759303092956543, -1.7229437828063965, -0.09753791653926111], [680, 0.414828896522522, -1.726104974746704, -0.13398825016322707], [690, 0.43780192732810974, -1.7295573949813843, -0.16467727169270743], [700, 0.4570430517196655, -1.7329925298690796, -0.19032763152146648], [710, 0.47312131524086, -1.736262321472168, -0.21153375030002733], [720, 0.4867846369743347, -1.739328145980835, -0.23009797828638837], [730, 0.4981863796710968, -1.742086410522461, -0.2453074712918202], [740, 0.5076895356178284, -1.744523048400879, -0.2575182703664236], [750, 0.5157614946365356, -1.7467007637023926, -0.26876765974130906], [760, 0.5225099921226501, -1.7486070394515991, -0.27797881438610533], [770, 0.5282319784164429, -1.7502638101577759, -0.28575446046740455], [780, 0.5331559181213379, -1.7517271041870117, -0.2929267850642605], [790, 0.5372747182846069, -1.7529699802398682, -0.2998588925219567], [800, 0.5405917763710022, -1.7539894580841064, -0.30248281812364136], [810, 0.5411955118179321, -1.7541534900665283, -0.24730531020711913], [820, 0.5411955118179321, -1.7541534900665283, -0.1773056462589812], [830, 0.5411955118179321, -1.7541534900665283, -0.10730594513235574], [840, 0.5411955118179321, -1.7541534900665283, -0.03730621465103934], [850, 0.5411955118179321, -1.7541533708572388, 0.032693455277454535], [860, 0.5411954522132874, -1.7541534900665283, 0.10269312817725396], [870, 0.5411955118179321, -1.7541534900665283, 0.17269256995260757], [880, 0.5411954522132874, -1.7541534900665283, 0.24269152318505352], [890, 0.5411955118179321, -1.7541534900665283, 0.3126912107704564], [900, 0.5411955118179321, -1.7541534900665283, 0.382690912308415], [910, 0.5411954522132874, -1.7541534900665283, 0.4526904871950131], [920, 0.5411955118179321, -1.7541534900665283, 0.5226903369452393], [930, 0.5411955118179321, -1.7541534900665283, 0.592689918045068], [940, 0.5411955118179321, -1.7541534900665283, 0.6626897182617052], [950, 0.5411955118179321, -1.7541534900665283, 0.7326894567692529], [960, 0.5411955118179321, -1.7541534900665283, 0.8026890170455773], [970, 0.5411955118179321, -1.7541534900665283, 0.8726888856720405], [980, 0.5411954522132874, -1.7541534900665283, 0.942688414342238], [990, 0.5411955118179321, -1.7541534900665283, 1.0126880874610096], [1000, 0.5411955118179321, -1.7541534900665283, 1.0826879968858942], [1010, 0.5411955118179321, -1.7541534900665283, 1.1526876024537558], [1020, 0.5411955118179321, -1.7541534900665283, 1.2226680601417834], [1030, 0.5411955118179321, -1.7541534900665283, 1.292629689719008], [1040, 0.5411965847015381, -1.7541539669036865, 1.3616155633944693], [1050, 0.5411993265151978, -1.7541553974151611, 1.416549523781921], [1060, 0.5412019491195679, -1.7541561126708984, 1.4570557123190777], [1070, 0.5412025451660156, -1.7541565895080566, 1.4869254036978303], [1080, 0.5412026047706604, -1.7541569471359253, 1.5089486225712219], [1090, 0.5412026047706604, -1.7541569471359253, 1.5251943762121043], [1100, 0.5412026047706604, -1.7541569471359253, 1.5371723482028985], [1110, 0.5412026643753052, -1.7541569471359253, 1.5460074488439883], [1120, 0.5412040948867798, -1.7541570663452148, 1.5513732384179255], [1130, 0.5412040948867798, -1.7541570663452148, 1.5513732384179255], [1140, 0.5412040948867798, -1.7541570663452148, 1.5513732384179255], [1150, 0.5412040948867798, -1.7541570663452148, 1.5513732384179255], [1160, 0.5412040948867798, -1.7541570663452148, 1.5513732384179255], [1170, 0.5412040948867798, -1.7541570663452148, 1.5513895071517974], [1180, 0.5412040948867798, -1.7541570663452148, 1.5513895071517974], [1190, 0.5412040948867798, -1.7541570663452148, 1.551458462688414], [1200, 0.5412040948867798, -1.7541570663452148, 1.551488725154642], [1210, 0.5412040948867798, -1.7541570663452148, 1.5514772601187967], [1220, 0.5412040948867798, -1.7541570663452148, 1.551504992267488], [1230, 0.5412040948867798, -1.7541570663452148, 1.5515012016670293], [1240, 0.5412040948867798, -1.7541570663452148, 1.5514926024838978], [1250, 0.541204035282135, -1.7541565895080566, 1.5514970706550915], [1260, 0.5412039160728455, -1.7541561126708984, 1.5514824893402335], [1270, 0.5412037372589111, -1.7541550397872925, 1.5514775989062701], [1280, 0.5412033796310425, -1.7541531324386597, 1.5514803812823459], [1290, 0.5412028431892395, -1.7541500329971313, 1.5514758296356947], [1300, 0.5412020683288574, -1.7541460990905762, 1.5514639423371552], [1310, 0.541201114654541, -1.7541414499282837, 1.5514519731930876], [1320, 0.5412003397941589, -1.7541371583938599, 1.5514609913809712], [1330, 0.5411995649337769, -1.7541332244873047, 1.5514679031409455], [1340, 0.5411989688873291, -1.7541301250457764, 1.5514648703391756], [1350, 0.5411985516548157, -1.7541277408599854, 1.5514528995650028], [1360, 0.5411983132362366, -1.754127025604248, 1.551432666763436], [1370, 0.5411983728408813, -1.754127025604248, 1.5514244898421345], [1380, 0.5411983728408813, -1.754127025604248, 1.5514406751051992], [1390, 0.5411983728408813, -1.754127025604248, 1.5514518029830076], [1400, 0.5411983728408813, -1.754127025604248, 1.5514604021676368], [1410, 0.5411983728408813, -1.754127025604248, 1.5514651223936862], [1420, 0.5411983728408813, -1.754127025604248, 1.551470179778975], [1430, 0.5411983728408813, -1.754127025604248, 1.5514749851095517], [1440, 0.5411983728408813, -1.754127025604248, 1.5514795383848008], [1450, 0.5411983728408813, -1.754127025604248, 1.5514843420869568], [1460, 0.5411983728408813, -1.754127025604248, 1.5514891457897408], [1470, 0.5411983728408813, -1.754127025604248, 1.551492687587241], [1480, 0.5411983728408813, -1.754127025604248, 1.5514953848597435], [1490, 0.5411983728408813, -1.754127025604248, 1.5514958071220217], [1500, 0.5411983728408813, -1.754127025604248, 1.5514958071220217], [1510, 0.5411983728408813, -1.754127025604248, 1.5514958071220217], [1520, 0.5411983728408813, -1.754127025604248, 1.5514955534392794], [1530, 0.5411983728408813, -1.754127025604248, 1.5514955534392794], [1540, 0.5411983728408813, -1.754127025604248, 1.5514955534392794], [1550, 0.5411983728408813, -1.754127025604248, 1.5514955534392794], [1560, 0.5411983728408813, -1.754127025604248, 1.5514955534392794], [1570, 0.5411983728408813, -1.754127025604248, 1.5514955534392794], [1580, 0.5411983728408813, -1.754127025604248, 1.5514955534392794], [1590, 0.5411983728408813, -1.754127025604248, 1.5514946254383524], [1600, 0.5411983728408813, -1.754127025604248, 1.5514936155881927], [1610, 0.5411983728408813, -1.754127025604248, 1.5514924339043628], [1620, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1630, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1640, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1650, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1660, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1670, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1680, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1690, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1700, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1710, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1720, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1730, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1740, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1750, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1760, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1770, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1780, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1790, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1800, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1810, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1820, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1830, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1840, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1850, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1860, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1870, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1880, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1890, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1900, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1910, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1920, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1930, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1940, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1950, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1960, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1970, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1980, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [1990, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2000, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2010, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2020, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2030, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2040, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2050, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2060, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2070, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2080, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2090, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2100, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2110, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2120, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2130, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2140, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2150, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2160, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2170, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2180, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2190, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2200, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2210, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2220, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2230, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2240, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2250, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2260, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2270, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2280, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2290, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2300, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2310, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2320, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2330, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2340, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2350, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2360, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2370, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2380, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2390, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2400, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2410, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2420, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2430, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2440, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2450, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2460, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2470, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2480, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2490, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2500, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2510, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2520, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2530, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2540, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2550, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2560, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2570, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2580, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2590, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2600, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2610, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2620, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2630, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2640, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2650, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2660, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2670, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2680, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2690, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2700, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2710, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2720, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2730, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2740, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2750, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2760, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2770, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2780, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2790, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2800, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2810, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2820, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2830, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2840, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2850, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2860, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2870, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2880, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2890, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2900, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2910, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2920, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2930, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2940, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2950, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2960, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2970, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2980, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [2990, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3000, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3010, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3020, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3030, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3040, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3050, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3060, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3070, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3080, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3090, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3100, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3110, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3120, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3130, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3140, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3150, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3160, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3170, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3180, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3190, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3200, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3210, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3220, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3230, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3240, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3250, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3260, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3270, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3280, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3290, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3300, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3310, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3320, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3330, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3340, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3350, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3360, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3370, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3380, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3390, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3400, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3410, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3420, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3430, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3440, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3450, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3460, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3470, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3480, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3490, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3500, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3510, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3520, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3530, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3540, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3550, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3560, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3570, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3580, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3590, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3600, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3610, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3620, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3630, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3640, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3650, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3660, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3670, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3680, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3690, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3700, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3710, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3720, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3730, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3740, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3750, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3760, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3770, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3780, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3790, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3800, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3810, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3820, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3830, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3840, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3850, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3860, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3870, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3880, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3890, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3900, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3910, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3920, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3930, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3940, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3950, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3960, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3970, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3980, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [3990, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4000, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4010, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4020, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4030, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4040, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4050, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4060, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4070, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4080, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4090, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4100, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4110, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4120, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4130, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4140, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4150, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4160, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4170, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4180, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4190, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4200, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4210, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4220, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4230, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4240, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4250, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4260, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4270, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4280, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4290, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4300, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4310, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4320, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4330, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4340, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4350, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4360, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4370, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4380, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4390, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4400, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4410, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4420, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4430, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4440, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4450, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4460, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4470, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4480, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4490, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4500, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4510, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4520, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4530, 0.5411983728408813, -1.754127025604248, 1.551492265324826], [4540, 0.5411983728408813, -1.754127025604248, 1.5514904093226103], [4550, 0.5411983728408813, -1.754127025604248, 1.5514910852680845], [4560, 0.5411983728408813, -1.754127025604248, 1.5515060888476644], [4570, 0.5411984324455261, -1.754127025604248, 1.5515057533145984], [4580, 0.5411983728408813, -1.754127025604248, 1.5515060053708987], [4590, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4600, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4610, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4620, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4630, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4640, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4650, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4660, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4670, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4680, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4690, 0.5411983728408813, -1.754127025604248, 1.5515044046782618], [4700, 0.5411983728408813, -1.754127025604248, 1.5515026337799387], [4710, 0.5411983728408813, -1.754127025604248, 1.5515017908822142], [4720, 0.5411983728408813, -1.754127025604248, 1.5514996844512152], [4730, 0.5411983728408813, -1.754127025604248, 1.5514977449732397], [4740, 0.5411983728408813, -1.754127025604248, 1.5514941196997367], [4750, 0.5411983728408813, -1.754127025604248, 1.551489399472763], [4760, 0.5411983728408813, -1.754127025604248, 1.5514828248712649], [4770, 0.5411984324455261, -1.754127025604248, 1.5514758296356967], [4780, 0.5411983728408813, -1.754127025604248, 1.5514684939838528], [4790, 0.5411983728408813, -1.754127025604248, 1.551462256542131], [4800, 0.5411983728408813, -1.754127025604248, 1.5514604021676368], [4810, 0.5411967039108276, -1.7541271448135376, 1.5520577331597645], [4820, 0.541179895401001, -1.7541284561157227, 1.5911338784294107], [4830, 0.541175127029419, -1.7541084289550781, 1.6611660648914985], [4840, 0.5411680340766907, -1.7540709972381592, 1.7312038909448892], [4850, 0.5411608815193176, -1.7540335655212402, 1.8012417426524459], [4860, 0.541153073310852, -1.7539920806884766, 1.8712795482452476], [4870, 0.5411389470100403, -1.753917932510376, 1.9413175687918154], [4880, 0.541124701499939, -1.753842830657959, 2.011355449452858], [4890, 0.5411104559898376, -1.753767967224121, 2.0813930584449203], [4900, 0.5410954356193542, -1.7536886930465698, 2.151431097173123], [4910, 0.541074275970459, -1.753577470779419, 2.2214686626307807], [4920, 0.5410529375076294, -1.753464937210083, 2.291506489630407], [4930, 0.5410177707672119, -1.7533552646636963, 2.3615442864772778], [4940, 0.5404072403907776, -1.7528822422027588, 2.431571320517849], [4950, 0.5104331970214844, -1.7292391061782837, 2.501508767916596], [4960, 0.46698054671287537, -1.6990551948547363, 2.571555456273884], [4970, 0.4287168085575104, -1.6762688159942627, 2.6416004504355386], [4980, 0.394615113735199, -1.6590790748596191, 2.711644186850946], [4990, 0.3645845651626587, -1.6464956998825073, 2.7816868481742834], [5000, 0.3319270610809326, -1.635451078414917, 2.8517167701572563], [5010, 0.30227363109588623, -1.6276698112487793, 2.9217581702240416], [5020, 0.2759089469909668, -1.622694730758667, 2.9917996774224984], [5030, 0.2525968849658966, -1.6199625730514526, 3.06184104287603], [5040, 0.23176239430904388, -1.6189905405044556, 3.1318812907126974], [5050, 0.21343253552913666, -1.619417667388916, -3.0812638138604873], [5060, 0.1970784068107605, -1.620954990386963, -3.0112247758412045], [5070, 0.1828535795211792, -1.6233046054840088, -2.9411846046646186], [5080, 0.17019131779670715, -1.6263158321380615, -2.8711454996357557], [5090, 0.15903504192829132, -1.6298093795776367, -2.801106500254461], [5100, 0.14929050207138062, -1.6336313486099243, -2.7310675605651595], [5110, 0.14069613814353943, -1.6377174854278564, -2.6610284259810917], [5120, 0.13301202654838562, -1.6420559883117676, -2.5909893255223535], [5130, 0.12656256556510925, -1.6463299989700317, -2.5209515436014756], [5140, 0.11308318376541138, -1.6566731929779053, -2.45093165670473], [5150, 0.10186940431594849, -1.666585922241211, -2.380891317186712], [5160, 0.09287385642528534, -1.675729751586914, -2.3108511223047707], [5170, 0.08578503131866455, -1.6840269565582275, -2.240812247908132], [5180, 0.08015313744544983, -1.6916477680206299, -2.1707732172409275], [5190, 0.07550811022520065, -1.698946237564087, -2.1007339728370282], [5200, 0.07178903371095657, -1.7058253288269043, -2.0308374644925604], [5210, 0.06883930414915085, -1.7123006582260132, -1.9609468602847822], [5220, 0.06651966273784637, -1.7185297012329102, -1.8910615088415206], [5230, 0.06476233154535294, -1.7244538068771362, -1.821171058229272], [5240, 0.06359031051397324, -1.7297943830490112, -1.7512859212532876], [5250, 0.06278284639120102, -1.735215425491333, -1.6814005863954946], [5260, 0.062371209263801575, -1.7404521703720093, -1.6115102082014132], [5270, 0.06233761087059975, -1.7447528839111328, -1.5416248714887864], [5280, 0.06261151283979416, -1.749060034751892, -1.4717396600219492], [5290, 0.06318378448486328, -1.7533422708511353, -1.4018544333517948], [5300, 0.0640619546175003, -1.7576016187667847, -1.3319693140475708], [5310, 0.06512285768985748, -1.7614548206329346, -1.2620787517102057], [5320, 0.06619672477245331, -1.7644343376159668, -1.1921936128815172], [5330, 0.06746246665716171, -1.7673395872116089, -1.122308193464012], [5340, 0.06894330680370331, -1.7701547145843506, -1.0524227195562172], [5350, 0.07062025368213654, -1.7728734016418457, -0.9825374817266778], [5360, 0.07247710227966309, -1.7754793167114258, -0.9126522496065733], [5370, 0.07454267144203186, -1.7779552936553955, -0.8427671012546595], [5380, 0.07677202671766281, -1.7802906036376953, -0.7728818424268546], [5390, 0.07915869355201721, -1.7824735641479492, -0.7029966384180757], [5400, 0.0817033126950264, -1.784491777420044, -0.633111312806086], [5410, 0.0842156708240509, -1.7861984968185425, -0.563220773288846], [5420, 0.08609447628259659, -1.7873108386993408, -0.4933250554693521], [5430, 0.08808159828186035, -1.7882884740829468, -0.4234345246336371], [5440, 0.09014584869146347, -1.7891314029693604, -0.35354407606923116], [5450, 0.09213583171367645, -1.789795994758606, -0.28365888527683], [5460, 0.09420681744813919, -1.7903180122375488, -0.2137735439984282], [5470, 0.09629873186349869, -1.7907015085220337, -0.1438883103178231], [5480, 0.09841767698526382, -1.7909396886825562, -0.07400301788286263], [5490, 0.10060719400644302, -1.791019320487976, -0.0041177442669134996], [5500, 0.10276971012353897, -1.7909561395645142, 0.06576750563159167], [5510, 0.10490383207798004, -1.7907450199127197, 0.1356527322555251], [5520, 0.1070207878947258, -1.7904069423675537, 0.18764570000031333], [5530, 0.10807102173566818, -1.7902075052261353, 0.18764570000031333], [5540, 0.10912030190229416, -1.790008306503296, 0.18764570000031333], [5550, 0.11016982048749924, -1.789808988571167, 0.18764570000031333], [5560, 0.11121910065412521, -1.7896097898483276, 0.18764570000031333], [5570, 0.11226838082075119, -1.7894105911254883, 0.18764570000031333], [5580, 0.11331789940595627, -1.7892112731933594, 0.18764570000031333], [5590, 0.11352794617414474, -1.7891713380813599, 0.18764516591788807], [5600, 0.11337988823652267, -1.7891994714736938, 0.18764570000031333], [5610, 0.11335056275129318, -1.7892050743103027, 0.18764570000031333], [5620, 0.11332147568464279, -1.789210557937622, 0.18764570000031333], [5630, 0.11317174881696701, -1.7892389297485352, 0.18764570000031333], [5640, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5650, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5660, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5670, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5680, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5690, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5700, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5710, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5720, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5730, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5740, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5750, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5760, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5770, 0.11322062462568283, -1.7892297506332397, 0.18764570000031333], [5780, 0.113260917365551, -1.789222002029419, 0.18764570000031333], [5790, 0.11341088265180588, -1.7891936302185059, 0.18764570000031333], [5800, 0.11356060951948166, -1.7891651391983032, 0.18764570000031333], [5810, 0.11371057480573654, -1.7891366481781006, 0.18764570000031333], [5820, 0.11386054009199142, -1.7891082763671875, 0.18764570000031333], [5830, 0.11401050537824631, -1.7890796661376953, 0.18764570000031333], [5840, 0.11416023224592209, -1.7890512943267822, 0.18764570000031333], [5850, 0.11431019753217697, -1.7890228033065796, 0.18764570000031333], [5860, 0.11446016281843185, -1.788994312286377, 0.18764570000031333], [5870, 0.11461012810468674, -1.7889659404754639, 0.18764570000031333], [5880, 0.11476009339094162, -1.7889374494552612, 0.18764570000031333], [5890, 0.1149098202586174, -1.7889089584350586, 0.18764570000031333], [5900, 0.11505978554487228, -1.7888805866241455, 0.18764570000031333], [5910, 0.11520975083112717, -1.7888519763946533, 0.18764570000031333], [5920, 0.11537807434797287, -1.7888200283050537, 0.18764570000031333], [5930, 0.11567800492048264, -1.7887630462646484, 0.18764570000031333], [5940, 0.1159776970744133, -1.7887063026428223, 0.18764570000031333], [5950, 0.11627762764692307, -1.788649320602417, 0.18764570000031333], [5960, 0.11657731980085373, -1.7885923385620117, 0.18764570000031333], [5970, 0.1168772503733635, -1.7885353565216064, 0.18764570000031333], [5980, 0.11717694252729416, -1.7884784936904907, 0.18764570000031333], [5990, 0.11700021475553513, -1.7885181903839111, 0.18168993298612504], [6000, 0.11609889566898346, -1.7886797189712524, 0.12725755597577926], [6010, 0.11496753245592117, -1.788780927658081, 0.05737227114515965], [6020, 0.11295568197965622, -1.7888193130493164, -0.012513008123036231], [6030, 0.11104177683591843, -1.7887253761291504, -0.08240297033350695], [6040, 0.10910608619451523, -1.7885088920593262, -0.15229302786964224], [6050, 0.10713057965040207, -1.7881295680999756, -0.2221783059171462], [6060, 0.10528484731912613, -1.7876520156860352, -0.292068287062404], [6070, 0.10349322855472565, -1.7870495319366455, -0.3619583185017936], [6080, 0.10175465792417526, -1.7863284349441528, -0.4318483299991877], [6090, 0.09999842941761017, -1.7854335308074951, -0.501733600660298], [6100, 0.09839103370904922, -1.7844924926757812, -0.5716235550754786], [6110, 0.09687232226133347, -1.783445119857788, -0.6415136699250031], [6120, 0.0954521894454956, -1.7822999954223633, -0.711403687644285], [6130, 0.0941149890422821, -1.7810661792755127, -0.7812937773579156], [6140, 0.09286147356033325, -1.779756784439087, -0.8511838126046927], [6150, 0.09172673523426056, -1.7783622741699219, -0.9210735896190235], [6160, 0.09070292860269547, -1.7769055366516113, -0.9909638171110493], [6170, 0.08977528661489487, -1.7753934860229492, -1.0608538273548176], [6180, 0.08896464109420776, -1.7738313674926758, -1.1307437871001942], [6190, 0.08827339112758636, -1.772219181060791, -1.2006336127161976], [6200, 0.08769161254167557, -1.7705860137939453, -1.2705241840892676], [6210, 0.08723665028810501, -1.7689290046691895, -1.340413968987604], [6220, 0.08691313117742538, -1.7672470808029175, -1.4103039408283715], [6230, 0.0866956114768982, -1.765550136566162, -1.480194040253672], [6240, 0.08660414814949036, -1.7638623714447021, -1.5500839871047674], [6250, 0.08662203699350357, -1.7623004913330078, -1.619978478848503], [6260, 0.08674436807632446, -1.7606370449066162, -1.6898685260585395], [6270, 0.08691336959600449, -1.7594728469848633, -1.7597634949990755], [6280, 0.08706897497177124, -1.7587963342666626, -1.8296536388097049], [6290, 0.08732501417398453, -1.7580217123031616, -1.8995483985174142], [6300, 0.08766068518161774, -1.7571759223937988, -1.9694478177518673], [6310, 0.08803223073482513, -1.756361722946167, -2.039347527946194], [6320, 0.08854730427265167, -1.7553825378417969, -2.1092760183328623], [6330, 0.08914639055728912, -1.7544503211975098, -2.179305376765392], [6340, 0.08983737230300903, -1.7534801959991455, -2.2493365233338105], [6350, 0.09310957789421082, -1.7497868537902832, -2.319359382608893], [6360, 0.09364787489175797, -1.749216079711914, -2.3894093359222417], [6370, 0.09364788234233856, -1.749216079711914, -2.4594472209804077], [6380, 0.09364788234233856, -1.749216079711914, -2.5294849654854135], [6390, 0.09364787489175797, -1.749216079711914, -2.5995229550727927], [6400, 0.09364788979291916, -1.749216079711914, -2.6695607387478466], [6410, 0.09364788979291916, -1.749216079711914, -2.739598584245544], [6420, 0.09364788234233856, -1.749216079711914, -2.8096363963264723], [6430, 0.09364789724349976, -1.749216079711914, -2.8796742576522685], [6440, 0.09364833682775497, -1.749218463897705, -2.9467582805610952], [6450, 0.09364909678697586, -1.7492225170135498, -2.9979208079514095], [6460, 0.09364955127239227, -1.7492249011993408, -3.0356507876976524], [6470, 0.0936499536037445, -1.7492270469665527, -3.0634513289308116], [6480, 0.09365017712116241, -1.7492282390594482, -3.0839753697359393], [6490, 0.09365035593509674, -1.7492291927337646, -3.0990991845625486], [6500, 0.0936504676938057, -1.7492296695709229, -3.110257867583066], [6510, 0.09365049749612808, -1.749229907989502, -3.1184918831924233], [6520, 0.0936489999294281, -1.7492220401763916, -3.133753550254347], [6530, 0.09364727139472961, -1.7492129802703857, 3.0874526914283082], [6540, 0.09364727139472961, -1.7492129802703857, 3.0174148287308014], [6550, 0.09364728629589081, -1.7492129802703857, 2.9473769802244565], [6560, 0.09364394843578339, -1.7491953372955322, 2.877339147595787], [6570, 0.09363682568073273, -1.7491579055786133, 2.8073013446014294], [6580, 0.09362973272800446, -1.7491204738616943, 2.73726349975379], [6590, 0.0936226099729538, -1.7490830421447754, 2.6672255959368325], [6600, 0.0936107188463211, -1.7490203380584717, 2.5971878129678045], [6610, 0.09359601140022278, -1.7489454746246338, 2.527149917930707], [6620, 0.09346161037683487, -1.7488934993743896, 2.45711214396987], [6630, 0.09330140799283981, -1.748815894126892, 2.387074226887659], [6640, 0.09317085891962051, -1.7487242221832275, 2.317036431178026], [6650, 0.09314823895692825, -1.7486050128936768, 2.24699861531596], [6660, 0.0931197851896286, -1.7484551668167114, 2.176972651161794], [6670, 0.07552038133144379, -1.7204656600952148, 2.1068827126948673], [6680, 0.046651460230350494, -1.6678824424743652, 2.0369210117206316], [6690, 0.021541234105825424, -1.6134071350097656, 1.9669597803231378], [6700, 0.0002866610884666443, -1.5573110580444336, 1.8969981451138476], [6710, -0.016995832324028015, -1.499866247177124, 1.8270366503457254], [6720, -0.030220896005630493, -1.441354513168335, 1.7570750085170754], [6730, -0.0393211767077446, -1.3820617198944092, 1.6871134236679506], [6740, -0.0442553348839283, -1.3222770690917969, 1.617151980728866], [6750, -0.04500013589859009, -1.2622944116592407, 1.5471903406330094], [6760, -0.041559744626283646, -1.2024084329605103, 1.477228733146211], [6770, -0.03393055126070976, -1.1429083347320557, 1.4072674946461867], [6780, -0.022233719006180763, -1.0840706825256348, 1.3436044303571315], [6790, -0.00760163739323616, -1.025885820388794, 1.3085060561067634], [6800, 0.008374391123652458, -0.9680520296096802, 1.296882180454746], [6810, 0.02439725026488304, -0.9106587171554565, 1.3022545014628593], [6820, 0.03811731934547424, -0.8599957227706909, 1.3107184824044955], [6830, 0.049379292875528336, -0.8170623779296875, 1.3180317097345817], [6840, 0.05863615870475769, -0.7807890772819519, 1.3243162438344391], [6850, 0.06626632809638977, -0.7501535415649414, 1.3299486104450131], [6860, 0.07262695580720901, -0.7240170836448669, 1.3358670321227408], [6870, 0.07856695353984833, -0.6980342268943787, 1.3574305512075506], [6880, 0.08326655626296997, -0.6751975417137146, 1.3787350655554764], [6890, 0.08683836460113525, -0.6560376882553101, 1.395650840525358], [6900, 0.08959019184112549, -0.6397755742073059, 1.4103328656960072], [6910, 0.09173669666051865, -0.6260687708854675, 1.4226822201855651], [6920, 0.09338708966970444, -0.6144744753837585, 1.4332729858461686], [6930, 0.0947110652923584, -0.6046316027641296, 1.4421367941601102], [6940, 0.09577933698892593, -0.5963119864463806, 1.449730010369816], [6950, 0.09659308940172195, -0.5892913341522217, 1.4561855591186923], [6960, 0.09723703563213348, -0.5833422541618347, 1.4618771834919213], [6970, 0.09781014919281006, -0.5781896114349365, 1.468568218845543], [6980, 0.0981772392988205, -0.5741190910339355, 1.4705335205271755], [6990, 0.09850653260946274, -0.5702762603759766, 1.4772395424699372], [7000, 0.09857659041881561, -0.5697152018547058, 1.4200262116517328], [7010, 0.09857659041881561, -0.5697152018547058, 1.3500629323276305], [7020, 0.09857659041881561, -0.5697152018547058, 1.2800998431798956], [7030, 0.09857659041881561, -0.5697152614593506, 1.2101367017064952], [7040, 0.09857659041881561, -0.5697152018547058, 1.1401488992926387], [7050, 0.09857659041881561, -0.5697152018547058, 1.0701489519638174], [7060, 0.09857659786939621, -0.5697152614593506, 1.0001491851863737], [7070, 0.09857659786939621, -0.5697152018547058, 0.9301497571394515], [7080, 0.09857659041881561, -0.5697152018547058, 0.8601498832333316], [7090, 0.09857659786939621, -0.5697152018547058, 0.7901503082961778], [7100, 0.09857659786939621, -0.5697152018547058, 0.7201504803498778], [7110, 0.09857665002346039, -0.5697152018547058, 0.6501510909879363], [7120, 0.09857659786939621, -0.5697152018547058, 0.5801519762273034], [7130, 0.09857659786939621, -0.5697152018547058, 0.5101527021474975], [7140, 0.09857659786939621, -0.5697152018547058, 0.4401534134240528], [7150, 0.09857659786939621, -0.5697152018547058, 0.37015516469434023], [7160, 0.09857632964849472, -0.5697140693664551, 0.3010618533331991], [7170, 0.09857553243637085, -0.569709837436676, 0.24591861058026732], [7180, 0.09857506304979324, -0.5697071552276611, 0.20525856176296986], [7190, 0.09857456386089325, -0.5697047710418701, 0.17527769264288937], [7200, 0.09857439249753952, -0.5697036385536194, 0.1531710696440613], [7210, 0.09857416898012161, -0.5697023868560791, 0.13687068215292425], [7220, 0.09857401996850967, -0.5697018504142761, 0.12485139159612942], [7230, 0.09857399761676788, -0.5697014927864075, 0.11598894208203023], [7240, 0.10033850371837616, -0.5695042014122009, 0.11034018094355574], [7250, 0.14322718977928162, -0.564813494682312, 0.10820111744325187], [7260, 0.20288637280464172, -0.5583673715591431, 0.10705179137978788], [7270, 0.26255738735198975, -0.5519838333129883, 0.10607762631698127], [7280, 0.3222375512123108, -0.5456480383872986, 0.1052732429273664], [7290, 0.3819260597229004, -0.5393564701080322, 0.10463595572175875], [7300, 0.441621869802475, -0.533103346824646, 0.10405005887568466], [7310, 0.5013242363929749, -0.5268846154212952, 0.10352220902259583], [7320, 0.5610314607620239, -0.5206906199455261, 0.10304998691933907], [7330, 0.6207423210144043, -0.5145168304443359, 0.1027500716619491], [7340, 0.6804593801498413, -0.5083755254745483, 0.10238133794257426], [7350, 0.7401771545410156, -0.5022391676902771, 0.10217586474527195], [7360, 0.7998998165130615, -0.4961274266242981, 0.10190344345210316], [7370, 0.8596249222755432, -0.4900287389755249, 0.101685686078404], [7380, 0.9193500876426697, -0.48392999172210693, 0.10164198931529], [7390, 0.9790751934051514, -0.47783133387565613, 0.10177410645950935], [7400, 1.038799524307251, -0.47172796726226807, 0.10207333716134102], [7410, 1.0985172986984253, -0.46559077501296997, 0.1025388000076017], [7420, 1.1582298278808594, -0.45942550897598267, 0.10317554270720726], [7430, 1.21793532371521, -0.45322176814079285, 0.10363056620606356], [7440, 1.2776401042938232, -0.44701528549194336, 0.10341826284849832], [7450, 1.3373475074768066, -0.440822958946228, 0.10338150432226059], [7460, 1.397053837776184, -0.43462541699409485, 0.10351237019773056], [7470, 1.4567573070526123, -0.4284128248691559, 0.10381148312702813], [7480, 1.5164563655853271, -0.4221764802932739, 0.10428501981726737], [7490, 1.576150894165039, -0.4159166216850281, 0.10433440854939452], [7500, 1.6358489990234375, -0.40967556834220886, 0.10395737882908694], [7510, 1.695549726486206, -0.4034484028816223, 0.10375518089196371], [7520, 1.755253553390503, -0.39723724126815796, 0.10372219220895437], [7530, 1.8148362636566162, -0.3910340964794159, 0.10361747220908198], [7540, 1.8683993816375732, -0.38548439741134644, 0.10261671055961052], [7550, 1.9133819341659546, -0.38086721301078796, 0.101906128251243], [7560, 1.951389193534851, -0.37698304653167725, 0.10124988436389878], [7570, 1.9835186004638672, -0.37373194098472595, 0.10052649902273965], [7580, 2.0106241703033447, -0.37100884318351746, 0.09985126646975018], [7590, 2.033550977706909, -0.36871111392974854, 0.09921729727614675], [7600, 2.052945137023926, -0.3667890429496765, 0.0982763764692051], [7610, 2.071005344390869, -0.36505603790283203, 0.09031256965065348], [7620, 2.087641716003418, -0.3636563718318939, 0.07783411168649253], [7630, 2.1017422676086426, -0.3626410663127899, 0.066974962989824], [7640, 2.113656997680664, -0.36189568042755127, 0.058090836562640635], [7650, 2.1239256858825684, -0.36132168769836426, 0.05032833896282107], [7660, 2.1324844360351562, -0.3609098196029663, 0.04394119779591294], [7670, 2.139697790145874, -0.36061006784439087, 0.03844636874289419], [7680, 2.1458089351654053, -0.36039724946022034, 0.033363108368057566], [7690, 2.1510603427886963, -0.36024320125579834, 0.027980216565097218], [7700, 2.1550815105438232, -0.36014267802238464, 0.026365506402577243], [7710, 2.1588597297668457, -0.36006712913513184, 0.021790154698229192], [7720, 2.1602537631988525, -0.360027551651001, 0.05793773066404765], [7730, 2.1602537631988525, -0.360027551651001, 0.1279408275374934], [7740, 2.1602537631988525, -0.360027551651001, 0.19794420849473812], [7750, 2.1602537631988525, -0.360027551651001, 0.2679475814988571], [7760, 2.1602537631988525, -0.360027551651001, 0.3379505536872631], [7770, 2.1602537631988525, -0.360027551651001, 0.407952128990359], [7780, 2.1602537631988525, -0.360027551651001, 0.4779529012042723], [7790, 2.1602537631988525, -0.360027551651001, 0.547952966081227], [7800, 2.1602537631988525, -0.360027551651001, 0.6179531910364279], [7810, 2.1602537631988525, -0.360027551651001, 0.6879533523261105], [7820, 2.1602537631988525, -0.360027551651001, 0.757952953328089], [7830, 2.1602537631988525, -0.3600275218486786, 0.8279527111323989], [7840, 2.1602535247802734, -0.360027551651001, 0.8979524592628259], [7850, 2.1602535247802734, -0.360027551651001, 0.9679520551041366], [7860, 2.1602537631988525, -0.360027551651001, 1.0379520153228776], [7870, 2.1602537631988525, -0.360027551651001, 1.1079514689465049], [7880, 2.1602537631988525, -0.360027551651001, 1.1779510800894093], [7890, 2.1602537631988525, -0.360027551651001, 1.2479839044446512], [7900, 2.1602537631988525, -0.360027551651001, 1.3180216936608224], [7910, 2.1602540016174316, -0.3600282669067383, 1.3835509024226387], [7920, 2.1602542400360107, -0.36002907156944275, 1.4327290139938702], [7930, 2.1602542400360107, -0.3600294291973114, 1.4690006240955804], [7940, 2.1602542400360107, -0.3600296974182129, 1.4957329590813055], [7950, 2.1602542400360107, -0.36002975702285767, 1.515447677010684], [7960, 2.1602542400360107, -0.36002975702285767, 1.5299934085078921], [7970, 2.1602542400360107, -0.36002975702285767, 1.54071945679581], [7980, 2.1602542400360107, -0.36002975702285767, 1.5486321113392143], [7990, 2.1604723930358887, -0.34748315811157227, 1.551201269378019], [8000, 2.1614491939544678, -0.29114583134651184, 1.5514483462879114], [8010, 2.1624889373779297, -0.23118166625499725, 1.5509465229502841], [8020, 2.163823127746582, -0.17117130756378174, 1.550738811765065], [8030, 2.165161371231079, -0.111160047352314, 1.5505792357645467], [8040, 2.166499137878418, -0.051148898899555206, 1.5505792357645467], [8050, 2.167840003967285, 0.008862912654876709, 1.5505151690126224], [8060, 2.1691808700561523, 0.06887465715408325, 1.5506226507603313], [8070, 2.1705214977264404, 0.1288864016532898, 1.5509058903714532], [8080, 2.171607494354248, 0.1888498067855835, 1.5513557863520324], [8090, 2.1726486682891846, 0.24880459904670715, 1.5519661879169444], [8100, 2.173682689666748, 0.3087966740131378, 1.551912406167368], [8110, 2.1747167110443115, 0.36878907680511475, 1.551676961292102], [8120, 2.175750732421875, 0.42878127098083496, 1.551615932230273], [8130, 2.1767842769622803, 0.4887735843658447, 1.5517184351191784], [8140, 2.177818775177002, 0.5487658977508545, 1.5518716885566433], [8150, 2.1788527965545654, 0.6087583303451538, 1.5511112414343413], [8160, 2.1801111698150635, 0.668792724609375, 1.550525031722741], [8170, 2.1814510822296143, 0.728787899017334, 1.5504715054199367], [8180, 2.182797908782959, 0.7887635231018066, 1.5503496093349536], [8190, 2.184141159057617, 0.848751425743103, 1.5507456417463663], [8200, 2.1852338314056396, 0.9087547063827515, 1.5510755844446755], [8210, 2.1863038539886475, 0.9674320220947266, 1.5513421297789913], [8220, 2.1872973442077637, 1.0183180570602417, 1.5522671284512737], [8230, 2.188075065612793, 1.0613515377044678, 1.5533564154250932], [8240, 2.188596248626709, 1.1030687093734741, 1.5647782537636974], [8250, 2.1885955333709717, 1.1398957967758179, 1.5775963122248482], [8260, 2.1881985664367676, 1.1709599494934082, 1.5882950773341322], [8270, 2.1876280307769775, 1.1971287727355957, 1.5971249563709293], [8280, 2.186924934387207, 1.2191951274871826, 1.6047892273341127], [8290, 2.18625545501709, 1.2379343509674072, 1.611300862837856], [8300, 2.1855320930480957, 1.2537744045257568, 1.6170128553502305], [8310, 2.1848936080932617, 1.2671079635620117, 1.6218105819819972], [8320, 2.1842706203460693, 1.2784225940704346, 1.6259466444631343], [8330, 2.183727741241455, 1.2878258228302002, 1.6284624735962363], [8340, 2.1832611560821533, 1.295845866203308, 1.6313732202874593], [8350, 2.182920455932617, 1.3025233745574951, 1.6332534402960757], [8360, 2.182615280151367, 1.308214783668518, 1.6363798011921138], [8370, 2.182316541671753, 1.3130671977996826, 1.6401645547180845], [8380, 2.182147264480591, 1.3170732259750366, 1.6425510497715377], [8390, 2.181807279586792, 1.3202736377716064, 1.652329474900787], [8400, 2.181807279586792, 1.3202736377716064, 1.7223670847636696], [8410, 2.181807279586792, 1.3202736377716064, 1.7924045697557975], [8420, 2.181807279586792, 1.3202736377716064, 1.8624424859286972], [8430, 2.181807279586792, 1.3202736377716064, 1.9324805115916783], [8440, 2.181807279586792, 1.3202736377716064, 2.0025182733406863], [8450, 2.181807279586792, 1.3202736377716064, 2.072556090096842], [8460, 2.181807279586792, 1.3202736377716064, 2.1425939460593697], [8470, 2.181807279586792, 1.3202736377716064, 2.2126318080693252], [8480, 2.181807279586792, 1.3202736377716064, 2.282669705709259], [8490, 2.181807279586792, 1.3202736377716064, 2.352707568436748], [8500, 2.181807279586792, 1.3202736377716064, 2.422745424948508], [8510, 2.181807279586792, 1.3202736377716064, 2.49278313920587], [8520, 2.181807279586792, 1.3202736377716064, 2.562820920392755], [8530, 2.181807518005371, 1.3202736377716064, 2.632858811647315], [8540, 2.181807279586792, 1.3202736377716064, 2.7028966979161324], [8550, 2.181807279586792, 1.3202736377716064, 2.7729344650660996], [8560, 2.181807279586792, 1.3202736377716064, 2.8429723118650525], [8570, 2.181807279586792, 1.3202736377716064, 2.913010171307181], [8580, 2.1818065643310547, 1.3202767372131348, 2.9730403553158355], [8590, 2.1818060874938965, 1.3202788829803467, 3.0173113334969828], [8600, 2.1818060874938965, 1.3202793598175049, 3.0499592263901407], [8610, 2.1818060874938965, 1.3202793598175049, 3.074040226751386], [8620, 2.1818060874938965, 1.3202793598175049, 3.0917883341995474], [8630, 2.1818060874938965, 1.3202793598175049, 3.1048684691047326], [8640, 2.1818060874938965, 1.3202793598175049, 3.114512945684022], [8650, 2.1818060874938965, 1.3202793598175049, 3.1216292373699486], [8660, 2.1818058490753174, 1.3202810287475586, 3.1216349901210747], [8670, 2.1818058490753174, 1.3202810287475586, 3.1216349901210747], [8680, 2.1818058490753174, 1.3202810287475586, 3.1216349901210747], [8690, 2.1818058490753174, 1.3202810287475586, 3.1216359425583486], [8700, 2.1818058490753174, 1.3202810287475586, 3.1216369259860186], [8710, 2.1818058490753174, 1.3202810287475586, 3.1216392826308828], [8720, 2.1818058490753174, 1.3202810287475586, 3.1216454812049146], [8730, 2.1818058490753174, 1.3202810287475586, 3.121652664395533], [8740, 2.1818058490753174, 1.3202810287475586, 3.1216581179490284], [8750, 2.1818058490753174, 1.3202810287475586, 3.121662884895587], [8760, 2.1818058490753174, 1.3202810287475586, 3.121667655405753], [8770, 2.1818058490753174, 1.3202810287475586, 3.121672663134411], [8780, 2.1818058490753174, 1.3202810287475586, 3.12167716187437], [8790, 2.1818058490753174, 1.3202810287475586, 3.1216819300094367], [8800, 2.1818058490753174, 1.3202810287475586, 3.1216867279455753], [8810, 2.1818058490753174, 1.3202810287475586, 3.121691468652617], [8820, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8830, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8840, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8850, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8860, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8870, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8880, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8890, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8900, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8910, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8920, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8930, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8940, 2.1818058490753174, 1.3202810287475586, 3.121692899093148], [8950, 2.1818058490753174, 1.3202810287475586, 3.121702972964618], [8960, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [8970, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [8980, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [8990, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [9000, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [9010, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [9020, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [9030, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [9040, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [9050, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [9060, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885], [9070, 2.1818058490753174, 1.3202810287475586, 3.1217110180082885]], "base_path_length_m": 9.354611255417462, "stage_events": [{"tick": 60, "event": "stage", "stage": "nav_A", "goal": [0.5599999999999998, -1.7607, 1.5707963267948966], "heading": "path"}, {"tick": 989, "event": "enter_A", "path_m": 3.6689110282480493}, {"tick": 1118, "event": "stage", "stage": "open", "hand": "open"}, {"tick": 1149, "event": "stage", "stage": "pre_pinch", "mode": 1, "goal": [1.24, -1.8, 0.707, 0.866, -0.0024, 0.5, -0.0042]}, {"tick": 1512, "event": "stage_end", "stage": "pre_pinch", "outcome": "finished", "pos_err_m": 0.0014057250976230262, "l6": [1.24, -1.7986, 0.707, -0.8836, 0.0034, -0.4674, 0.0277], "arm_q_margin": {"joint_lift": [0.75, 0.35], "joint_head_pan": [0.0, 1.5], "joint_head_tilt": [0.0, 0.79], "joint_arm_l3": [0.106, 0.024], "joint_arm_l2": [0.106, 0.024], "joint_arm_l1": [0.106, 0.024], "joint_arm_l0": [0.106, 0.024], "joint_wrist_yaw": [-0.073, 1.677], "joint_wrist_pitch": [-0.972, 0.598], "joint_wrist_roll": [-0.056, 3.084], "joint_gripper_finger_left": [0.25, 0.0], "joint_gripper_finger_right": [0.25, 0.0]}, "hammer": [1.2, -1.8, 0.601, 1.0, 0.0, 0.0, -0.0], "hammer_in_tcp": [0.0927, 0.0001, 0.0651], "lowest_face": [1.314, -1.835, 0.601], "face_tilt_deg": 90.0, "face_over_block_top_m": 0.031, "face_to_block_xy_m": 3.9345, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 1512, "event": "stage", "stage": "pinch_align", "mode": 4, "goal": [1.24, -1.8, 0.707, 0.866, -0.0024, 0.5, -0.0042]}, {"tick": 3012, "event": "timeout_accepted", "stage": "pinch_align", "pos_err_m": 0.010535410833350441, "rot_err_rad": 0.002405481720168217}, {"tick": 3012, "event": "stage_end", "stage": "pinch_align", "outcome": "finished", "pos_err_m": 0.010535410833350441, "l6": [1.2402, -1.7895, 0.707, -0.866, 0.003, -0.5, 0.0052], "arm_q_margin": {"joint_lift": [0.759, 0.341], "joint_head_pan": [-0.0, 1.5], "joint_head_tilt": [0.0, 0.79], "joint_arm_l3": [0.11, 0.02], "joint_arm_l2": [0.11, 0.02], "joint_arm_l1": [0.11, 0.02], "joint_arm_l0": [0.11, 0.02], "joint_wrist_yaw": [-0.005, 1.745], "joint_wrist_pitch": [-1.047, 0.523], "joint_wrist_roll": [-0.021, 3.119], "joint_gripper_finger_left": [0.25, 0.0], "joint_gripper_finger_right": [0.25, 0.0]}, "hammer": [1.2, -1.8, 0.601, 1.0, 0.0, 0.0, 0.0], "hammer_in_tcp": [0.0878, -0.0097, 0.0718], "lowest_face": [1.314, -1.835, 0.601], "face_tilt_deg": 90.0, "face_over_block_top_m": 0.031, "face_to_block_xy_m": 3.9345, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 3018, "event": "stage", "stage": "pinch", "mode": 4, "goal": [1.24, -1.8, 0.607, 0.866, -0.0024, 0.5, -0.0042]}, {"tick": 4518, "event": "timeout_accepted", "stage": "pinch", "pos_err_m": 0.010535359219755047, "rot_err_rad": 0.0024051734114669114}, {"tick": 4518, "event": "stage_end", "stage": "pinch", "outcome": "finished", "pos_err_m": 0.010535359219755047, "l6": [1.2402, -1.7895, 0.607, -0.866, 0.003, -0.5, 0.0052], "arm_q_margin": {"joint_lift": [0.659, 0.441], "joint_head_pan": [0.0, 1.5], "joint_head_tilt": [-0.0, 0.79], "joint_arm_l3": [0.11, 0.02], "joint_arm_l2": [0.11, 0.02], "joint_arm_l1": [0.11, 0.02], "joint_arm_l0": [0.11, 0.02], "joint_wrist_yaw": [-0.005, 1.745], "joint_wrist_pitch": [-1.047, 0.523], "joint_wrist_roll": [-0.021, 3.119], "joint_gripper_finger_left": [0.25, 0.0], "joint_gripper_finger_right": [0.25, 0.0]}, "hammer": [1.2, -1.8, 0.601, 1.0, 0.0, 0.0, 0.0], "hammer_in_tcp": [0.0378, -0.0107, -0.0148], "lowest_face": [1.314, -1.835, 0.601], "face_tilt_deg": 90.0, "face_over_block_top_m": 0.031, "face_to_block_xy_m": 3.9345, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 4524, "event": "stage", "stage": "close", "hand": "close"}, {"tick": 4535, "event": "object_first_moved", "path_m": 3.6689110282480493}, {"tick": 4560, "event": "grasp_close", "hammer": [1.1998403072357178, -1.7892022132873535, 0.6010848879814148, 0.9999756813049316, -0.005059707444161177, 4.908266055281274e-05, -0.0047972421161830425]}, {"tick": 4560, "event": "grip_opening", "opening_m": 0.00888632982969284}, {"tick": 4560, "event": "stage", "stage": "lift", "mode": 4, "goal": [1.2403, -1.7894, 0.7271, -0.866, 0.003, -0.5, 0.0052]}, {"tick": 4583, "event": "lifted", "z_gain": 0.03084111213684082}, {"tick": 4660, "event": "stage_end", "stage": "lift", "outcome": "finished", "pos_err_m": 0.002452022815465297, "l6": [1.2403, -1.7894, 0.7246, -0.866, 0.003, -0.5, 0.0052], "arm_q_margin": {"joint_lift": [0.777, 0.323], "joint_head_pan": [-0.0, 1.5], "joint_head_tilt": [-0.0, 0.79], "joint_arm_l3": [0.11, 0.02], "joint_arm_l2": [0.11, 0.02], "joint_arm_l1": [0.11, 0.02], "joint_arm_l0": [0.11, 0.02], "joint_wrist_yaw": [-0.005, 1.745], "joint_wrist_pitch": [-1.047, 0.523], "joint_wrist_roll": [-0.021, 3.119], "joint_gripper_finger_left": [0.024, 0.024], "joint_gripper_finger_right": [0.022, 0.022]}, "hammer": [1.198, -1.7892, 0.7248, 0.9776, -0.009, 0.2104, -0.0026], "hammer_in_tcp": [0.0365, -0.0, -0.0213], "lowest_face": [1.3019, -1.7553, 0.6773], "face_tilt_deg": 88.9, "face_over_block_top_m": 0.1073, "face_to_block_xy_m": 3.8596, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 4671, "event": "lift_check", "gain": 0.12630927562713623}, {"tick": 4671, "event": "in_hand", "hammer_in_tcp": [0.03646399826961866, -4.138478033821613e-05, -0.021384134880709886, -0.45750069202108223, 0.0026521320637845347, 0.8891946932747367, 0.0043451637246747265]}, {"tick": 4671, "event": "stage", "stage": "carry", "mode": 1, "goal": [1.0411, -1.7638, 0.83, -0.866, 0.003, -0.5, 0.0052]}, {"tick": 4809, "event": "stage_end", "stage": "carry", "outcome": "finished", "pos_err_m": 0.0015768708845893193, "l6": [1.041, -1.7653, 0.8299, -0.8788, 0.006, -0.475, -0.0454], "arm_q_margin": {"joint_lift": [0.875, 0.225], "joint_head_pan": [-0.0, 1.5], "joint_head_tilt": [-0.0, 0.79], "joint_arm_l3": [0.057, 0.057], "joint_arm_l2": [0.057, 0.057], "joint_arm_l1": [0.057, 0.057], "joint_arm_l0": [0.057, 0.057], "joint_wrist_yaw": [0.155, 1.905], "joint_wrist_pitch": [-0.989, 0.581], "joint_wrist_roll": [0.059, 3.081], "joint_gripper_finger_left": [0.024, 0.024], "joint_gripper_finger_right": [0.022, 0.022]}, "hammer": [0.9989, -1.7689, 0.8284, 0.9785, 0.0029, 0.2008, 0.0463], "hammer_in_tcp": [0.0361, -0.0, -0.0219], "lowest_face": [1.1064, -1.7933, 0.7828], "face_tilt_deg": 88.6, "face_over_block_top_m": 0.2128, "face_to_block_xy_m": 3.9463, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 4809, "event": "stage", "stage": "backoff_A", "goal": [0.10999999999999982, -1.7607, 3.141592653589793], "heading": "path"}, {"tick": 4903, "event": "leave_A", "path_m": 3.6689110282480493}, {"tick": 6515, "event": "stage", "stage": "via_1", "goal": [0.09999999999999987, -0.55, 0.09109335054594245], "heading": "path"}, {"tick": 7238, "event": "stage", "stage": "approach_B", "goal": [2.18, -0.35999999999999965, 1.5707963267948966], "heading": "path"}, {"tick": 7984, "event": "stage", "stage": "nav_B", "goal": [2.18, 1.3400000000000003, 3.141592653589793], "heading": "path"}, {"tick": 8521, "event": "enter_B", "path_m": 9.354611255417462}, {"tick": 8650, "event": "strike_orientation", "candidate": 0, "face_sign": 1, "approach": [0.061, 0.998, -0.027], "closing": [-0.029, -0.025, -0.999], "wrist": {"spin": 0.835, "yaw": -0.0416, "pitch": -0.027, "roll": -1.5435, "arm": 0.0481, "lift": 0.6329}, "options": 2}, {"tick": 8650, "event": "stage", "stage": "pre_strike", "mode": 1, "goal": [2.2264, 1.9257, 0.7353, 0.5156, -0.5146, -0.4706, 0.4978]}, {"tick": 8848, "event": "stage_end", "stage": "pre_strike", "outcome": "finished", "pos_err_m": 0.0014065812681936694, "l6": [2.225, 1.9257, 0.7351, -0.5375, 0.4891, 0.4725, -0.4986], "arm_q_margin": {"joint_lift": [0.56, 0.54], "joint_head_pan": [0.0, 1.5], "joint_head_tilt": [0.0, 0.79], "joint_arm_l3": [0.048, 0.048], "joint_arm_l2": [0.048, 0.048], "joint_arm_l1": [0.048, 0.048], "joint_arm_l0": [0.048, 0.048], "joint_wrist_yaw": [-0.036, 1.714], "joint_wrist_pitch": [0.02, 0.54], "joint_wrist_roll": [-1.496, 1.644], "joint_gripper_finger_left": [0.016, 0.016], "joint_gripper_finger_right": [0.015, 0.015]}, "hammer": [2.2629, 1.9052, 0.7322, -0.3315, 0.3283, 0.6995, -0.5414], "hammer_in_tcp": [0.0391, -0.0004, -0.0184], "lowest_face": [2.2021, 2.0054, 0.7104], "face_tilt_deg": 12.8, "face_over_block_top_m": 0.1404, "face_to_block_xy_m": 0.0073, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 8848, "event": "stage", "stage": "strike", "mode": 4, "goal": [2.2214, 1.92, 0.5846, 0.5156, -0.5146, -0.4706, 0.4978]}, {"tick": 8939, "event": "strike", "data_tick": 8939, "evidence": "sensor", "force_n": 2.9141092672971456, "reaction_slip_m": 0.0, "stall_ticks": 0, "goal_deficit_m": 0.0, "impact_speed_mps": null, "lateral_m": 0.003958634268503544, "face_gap_m": 0.003579475766549045, "face_tilt_deg": 11.736282659875554, "face_sign": 1}, {"tick": 8949, "event": "stage_end", "stage": "strike", "outcome": "finished", "pos_err_m": 0.0058486991232575385, "l6": [2.226, 1.9192, 0.5882, -0.5171, 0.5127, 0.4717, -0.4973], "arm_q_margin": {"joint_lift": [0.424, 0.424], "joint_head_pan": [0.0, 1.5], "joint_head_tilt": [0.0, 0.79], "joint_arm_l3": [0.046, 0.046], "joint_arm_l2": [0.046, 0.046], "joint_arm_l1": [0.046, 0.046], "joint_arm_l0": [0.047, 0.047], "joint_wrist_yaw": [-0.041, 1.709], "joint_wrist_pitch": [-0.022, 0.582], "joint_wrist_roll": [-1.542, 1.598], "joint_gripper_finger_left": [0.01, 0.01], "joint_gripper_finger_right": [0.017, 0.017]}, "hammer": [2.2654, 1.8995, 0.5832, -0.394, 0.2883, 0.68, -0.547], "hammer_in_tcp": [0.0407, 0.0042, -0.0171], "lowest_face": [2.2044, 2.0016, 0.5743], "face_tilt_deg": 13.8, "face_over_block_top_m": 0.0043, "face_to_block_xy_m": 0.0054, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 8955, "event": "stage", "stage": "lift_after", "mode": 4, "goal": [2.2258, 1.9189, 0.6677, -0.5169, 0.5126, 0.4726, -0.4967]}, {"tick": 9032, "event": "head_left", "gap": 0.050338580962458246}, {"tick": 9055, "event": "stage_end", "stage": "lift_after", "outcome": "finished", "pos_err_m": 0.0016752654630810939, "l6": [2.2258, 1.9189, 0.666, -0.5168, 0.5127, 0.4726, -0.4967], "arm_q_margin": {"joint_lift": [0.502, 0.502], "joint_head_pan": [0.0, 1.5], "joint_head_tilt": [0.0, 0.79], "joint_arm_l3": [0.046, 0.046], "joint_arm_l2": [0.046, 0.046], "joint_arm_l1": [0.046, 0.046], "joint_arm_l0": [0.046, 0.046], "joint_wrist_yaw": [-0.04, 1.71], "joint_wrist_pitch": [-0.021, 0.581], "joint_wrist_roll": [-1.543, 1.597], "joint_gripper_finger_left": [0.008, 0.008], "joint_gripper_finger_right": [0.007, 0.007]}, "hammer": [2.2697, 1.9034, 0.664, -0.3075, 0.3001, 0.6949, -0.5766], "hammer_in_tcp": [0.0448, 0.0011, -0.0129], "lowest_face": [2.1999, 1.9968, 0.6387], "face_tilt_deg": 9.6, "face_over_block_top_m": 0.0687, "face_to_block_xy_m": 0.0016, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 9066, "event": "command_complete"}], "transport_state": "carried", "transport_history": [[1, "at_A"], [4583, "carried"], [8919, "at_B"], [9014, "carried"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 5.685700227169413}, "interstation_net_m": 3.4843935999556286, "distance_to_first_interaction": 3.6689110282480493, "final_approach_pose": [2.1818058490753174, 1.3202810287475586, 3.1217110180082885], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N010", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C4", "primary_category": "hammer_block_contact", "level": "easy", "embodiment": "stretch3", "scene_seed": 2025, "execution_mode": "expert_collect", "planner_seeds": "lean", "review_cameras": [], "policy_obs_signature": ["/camera_info[0]/rgb[0]:(480, 640, 4):uint8", "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", "/robot_state[0]/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"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.5599999999999998, -1.7607, 1.5707963267948966], "B": [2.18, 1.3400000000000003, 3.141592653589793]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"force_n": 0.0, "peak_force_n": 3.3126696435508305, "impulse_ns": 0.23101964232318256, "reaction_slip_m": 0.0, "face_lateral_m": 0.0016362321363852272, "face_gap_m": 0.07034754150562816, "face_tilt_deg": 9.612930062113337, "robot_min_gap_m": 0.047806813984317076, "contact_episodes": 1}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "rigid_friction", "ticks": 9073, "control_steps": 8949, "hammer_final_pose": [2.2696657180786133, 1.9033567905426025, 0.6655946969985962, -0.30750489234924316, 0.3001302480697632, 0.6948888897895813, -0.5766212344169617], "block_final_pose": [2.2000985145568848, 1.998384952545166, 0.5300000309944153, 1.0, -1.1615480843829573e-06, -5.738071990890603e-07, 6.81864662510634e-08], "strike": {"tick": 8939, "evidence": "sensor", "force_n": 2.9141092672971456, "reaction_slip_m": 0.0, "stall_ticks": 0, "goal_deficit_m": 0.0, "impact_speed_mps": null, "lateral_m": 0.003958634268503544, "face_gap_m": 0.003579475766549045, "face_tilt_deg": 11.736282659875554, "face_sign": 1}, "block_reaction": {"observed": true, "ref_tick": 4565, "ticks": 49, "max_displacement_m": 5.364418029785156e-07, "min_dz_m": -1.1920928955078125e-07, "max_speed_mps": 2.682209014892578e-05, "moved_1mm": false}, "head_left_tick": 9032, "contact_evidence": "sensor", "force_data": "reliable", "peak_force_n": 3.3126696435508305, "impulse_ns": 0.23101964232318256, "contact_episodes": 1, "max_reaction_slip_m": 0.0, "max_stall_ticks_on_plane": 0, "max_goal_deficit_on_plane_m": 0.0, "impact_speed_mps": null, "face_on_plane_first_tick": null, "robot_min_gap_m": 0.047806813984317076, "contact_view": null, "contact_sensor_error": null, "force_source": "rigid contact view, block filtered on the hammer (last physics sub-step per control tick); alive only if it reads the block's weight"}