add N010/go2_arm/dr_off/seed_7051

N010/go2_arm/dr_off/seed_7051/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1205 rows vs ceil(2409/2) = 1205"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..2469, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "5.26 MB, 1205 frames at 25 fps, mean luma 98..148, std 16, new picture 1204x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1205 vs 1205"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "23.92 MB, 1205 frames at 25 fps, mean luma 110..170, std 33, new picture 1204x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1205 vs 1205"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationhammer/000/sim_info"
+  }
+ }
+}

N010/go2_arm/dr_off/seed_7051/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n010_go2_off_7051/out  task=N010  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n010_go2_off_7051/out/record/stationhammer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1205  videos 2  robot_type Go2PlusCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1205 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'
+rows 1205 at dataset fps 25 = 48.20 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1205 rows vs ceil(2409/2) = 1205
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2469, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 5.26 MB, 1205 frames at 25 fps, mean luma 98..148, std 16, new picture 1204x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1205 vs 1205
+[PASS] video observation.images.wrist decodes, 640x480, not black: 23.92 MB, 1205 frames at 25 fps, mean luma 110..170, std 33, new picture 1204x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1205 vs 1205
+parquet size 2.31 MB
+[PASS] sim_info present: record/stationhammer/000/sim_info
+dataset size 31.71 MB; whole cell dir 33.0 MB
+RESULT: ALL PASS

N010/go2_arm/dr_off/seed_7051/config.yaml

@@ -0,0 +1,563 @@
+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: 7051
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.42000000000000004
+        - - -2.9000000000000004
+          - -1.7
+          - 0.42000000000000004
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos: null
+      action:
+        base_action: ${oc.env:GO2PLUS_BASE_ACTION,unified}
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.1
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.35
+            max_vx: 0.35
+            min_vy: -0.25
+            max_vy: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            dynamic_window_source: command
+            default_height: 0.39
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 65
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: false
+    occupancymap:
+      cell_size: 0.05
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.6
+          - 0.9
+          - 0.5
+        table_a_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 2.2
+          - 2.0
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.5
+        table_b_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      hammer_rack:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer_rack/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.53
+          - - 1.2
+            - -1.8
+            - 0.53
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_rack_1:
+          visual: {}
+          physics:
+            type: geometry
+            collision: true
+      hammer:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.602
+          - - 1.2
+            - -1.8
+            - 0.602
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+      strike_block:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/strike_block/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 2.1900000000000004
+            - 1.99
+            - 0.531
+          - - 2.21
+            - 2.01
+            - 0.531
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        strike_block_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+            track_contact_forces: true
+            prepare_contact_sensor: true
+            contact_filter_prim_paths_expr:
+            - /World/envs/env_.*/dynamic/hammer/hammer_1
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 12000
+    success_hold_frames: 3
+    fall_height: 0.08
+    fall_tilt: 1.0
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: go2_arm
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.306
+      standoff_b: 0.42
+    settle_ticks: 40
+    hold_ticks: 5
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/sz850_atomic/n010_go2_off_7051/out/reports.jsonl
+    carried:
+      type: rigid
+      name: hammer
+      id: 0
+    tracked:
+    - type: rigid
+      name: strike_block
+      id: 0
+    planner_seeds: lean
+    cloth_variant: null
+    record_scene_streams: true
+collect:
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.12
+      rotation_threshold: 0.12
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.012
+      rotation_threshold: 0.25
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      debug: false
+      debug_viz: false
+      retry_mobile_on_locked_plan_failure: true
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      interp_validate_target: true
+    RetractMoveL:
+      translation_threshold: 0.06
+      rotation_threshold: 0.3
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 2000
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      base_waypoint_max_steps: 20
+      arm_waypoint_max_steps: 8
+      move_strategy_distance_threshold: 0.1
+      debug: false
+      debug_viz: false
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    StationNav:
+      robot_id: 0
+      show_marker: false
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 10
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: -1
+      grasp_mode: 4
+      retrieval_mode: 4
+      reactive: false
+      viz_grasp: false
+  auto_collect:
+    max_trajectories: null
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n010_go2_off_7051/out/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StationHammer:
+      robot_id: 0
+      init_limit: 60
+      max_attempt: 2
+      completion_timeout_steps: 300
+      stages:
+        turn_first: true
+        pre_strike_linear: true
+        pre_clear: 0.06
+        lift: 0.04
+        min_lift_gain: 0.025
+env_string: HammerEnv-V0

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/completed/0.json

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

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/joint_names.json

@@ -0,0 +1,24 @@
+{
+ "Go2Plus": [
+  "go2_FL_hip_joint",
+  "go2_FR_hip_joint",
+  "go2_RL_hip_joint",
+  "go2_RR_hip_joint",
+  "piper_joint1",
+  "go2_FL_thigh_joint",
+  "go2_FR_thigh_joint",
+  "go2_RL_thigh_joint",
+  "go2_RR_thigh_joint",
+  "piper_joint2",
+  "go2_FL_calf_joint",
+  "go2_FR_calf_joint",
+  "go2_RL_calf_joint",
+  "go2_RR_calf_joint",
+  "piper_joint3",
+  "piper_joint4",
+  "piper_joint5",
+  "piper_joint6",
+  "piper_joint7",
+  "piper_joint8"
+ ]
+}

N010/go2_arm/dr_off/seed_7051/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:bf2cec1dc32b4557dba5c5db8cf8a68a641de7ae88c545f0f4cdb52d9c8ca64a
+size 2306116

N010/go2_arm/dr_off/seed_7051/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": 1205, "magicsim/control_steps": 2409, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front, at table height."}

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.1511201558796944, 0.022991948040720092, 0.032151323910155315, 0.37352696254045636, 0.9613251555633743, -0.6302899891781114, 0.8057017345151466, 0.3122606865032426, -0.10253706708861055, 0.8384202047996996, 0.16398168777746508, 0.6680497925311203], "std": [0.177556530615507, 0.07615434453459263, 0.16564841199268723, 0.023500858948440072, 1.3084618199161833, 1.357343864019518, 0.11940279863476409, 0.19984536078037118, 0.1998634564632558, 0.12430937037184349, 0.2584661892612444, 0.470913226858453], "min": [-0.308495432138443, -0.0599999874830246, -0.4097094237804413, 0.3400000035762787, -2.684368848800659, -1.8834474086761475, 0.5871368050575256, -0.0024549998342990875, -0.6612042188644409, 0.5548707246780396, -0.010998852550983429, 0.0], "max": [0.3499999940395355, 0.25, 0.800000011920929, 0.38999998569488525, 2.5233752727508545, 1.8076355457305908, 0.9347147345542908, 0.555705726146698, 0.008511128835380077, 0.9934960603713989, 0.7234202027320862, 1.0], "count": [1205]}, "action_is_hold": {"mean": [0.028215767634854772, 0.028215767634854772, 0.028215767634854772, 0.028215767634854772, 0.043153526970954356, 0.043153526970954356, 0.043153526970954356, 0.043153526970954356, 0.043153526970954356, 0.043153526970954356, 0.043153526970954356, 0.991701244813278], "std": [0.1655887619726392, 0.1655887619726392, 0.1655887619726392, 0.1655887619726392, 0.20320260845009244, 0.20320260845009244, 0.20320260845009244, 0.20320260845009244, 0.20320260845009244, 0.20320260845009244, 0.20320260845009244, 0.09071871829492033], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1205]}, "observation.state": {"mean": [-0.05152732025120887, 0.04598916697837748, -0.0774307943898914, 0.11192705326028173, 0.014708295787920775, 0.6048352879607332, 0.6060981848180541, 0.7162663481542184, 0.713066448438217, 1.7895028275572908, -1.287510439370183, -1.2787812163720982, -1.2814132360007258, -1.306933579899958, -1.5030278377018529, 0.0639160630516841, 0.44108920839858623, 0.16929784103316275, 0.01705799733532044, -0.016766565495182247, 0.6499837524864313, -0.794695582708027, 0.47657455429314016, 0.3989902626924, -0.016766565495182247, -0.01705799733532044], "std": [0.031068924446493194, 0.0340267204736371, 0.036707479831826054, 0.03363150990206142, 0.038267574857847056, 0.09378505622795123, 0.12384136111839868, 0.10837603202613612, 0.08567699688521853, 0.4082120275720618, 0.12859077320725543, 0.13499773028952736, 0.15964462638806168, 0.14835506346883728, 0.3808766737559307, 0.26235622943355835, 0.36121511135328516, 0.47756959154131484, 0.01267056583113942, 0.01287704179823758, 1.417046684271237, 1.1424055519903769, 0.6622099460501492, 0.019086681852550795, 0.01287704179823758, 0.01267056583113942], "min": [-0.1813707947731018, -0.05520515516400337, -0.15561585128307343, -0.0003034861583728343, -0.08054423332214355, 0.26846638321876526, 0.3324054181575775, 0.46306172013282776, 0.3758460581302643, 1.4312160015106201, -1.5317593812942505, -1.55548095703125, -1.5847346782684326, -1.6212246417999268, -2.17777681350708, -0.05050136521458626, -0.6037783026695251, -0.1985141634941101, 0.007905065082013607, -0.03500000014901161, -3.0523970127105713, -1.9015300273895264, 0.00027151210815645754, 0.3512662947177887, -0.03500000014901161, -0.03500000014901161], "max": [0.0945991724729538, 0.15560957789421082, 0.0903436541557312, 0.20973993837833405, 0.11064191162586212, 0.7726020216941833, 0.8712566494941711, 1.0236636400222778, 1.0069934129714966, 2.7703351974487305, -1.096720814704895, -1.0886218547821045, -1.0449917316436768, -1.0509154796600342, -0.9449560046195984, 1.7366498708724976, 0.7717675566673279, 1.5573254823684692, 0.03500000014901161, -0.007209265138953924, 2.191396951675415, 1.1895883083343506, 1.726797103881836, 0.4174855351448059, -0.007209265138953924, -0.007905065082013607], "count": [1205]}, "observation.joint_vel": {"mean": [0.005631359608776779, -0.004660342175163777, 0.004911553888579037, -0.01073285885306396, 0.001984082550400849, 0.01661838860795891, -0.005405192391577861, 0.013975538464076624, 0.005894756894094939, 0.01777888363388708, -0.012921155321300566, -0.0014664463583414764, -0.015092978922696591, -0.012652660169686032, -0.02172581534816866, -0.001103753698612969, -0.02148500624089176, 0.029377717600134218, -0.001263987910208499, -0.00045442384162996713], "std": [0.5035696803007265, 0.4247671642117836, 0.5887732252834256, 0.5687715289554048, 0.03651529715643277, 0.9642155316156122, 1.1270192035599664, 0.929464106921619, 0.6777400392164116, 0.20445839453113257, 0.7818373700148232, 1.0308021215170884, 1.0741056756723486, 1.3111416072730844, 0.230614958717949, 0.3659692132533305, 0.1615826785965945, 0.33613621387403625, 0.010264609377737982, 0.01039583911901039], "min": [-1.4911222457885742, -1.6824487447738647, -3.3192386627197266, -1.9865443706512451, -0.2318408191204071, -3.163968324661255, -4.090330123901367, -3.323115825653076, -2.354882001876831, -0.8710134029388428, -3.2860310077667236, -4.432578086853027, -3.457963466644287, -5.68214225769043, -2.978820562362671, -2.999999523162842, -2.642181634902954, -2.6480374336242676, -0.2002614140510559, -0.05514232814311981], "max": [3.2089662551879883, 2.144692897796631, 3.7221016883850098, 2.46025013923645, 0.3817877173423767, 4.9102091789245605, 4.972575664520264, 4.958254337310791, 5.746487617492676, 1.9527857303619385, 2.8533430099487305, 4.122862815856934, 4.256860256195068, 4.25078010559082, 1.0954620838165283, 2.628445625305176, 1.3241074085235596, 2.9989640712738037, 0.007006341125816107, 0.20009559392929077], "count": [1205]}, "observation.eef_pose": {"mean": [0.9615402536076413, -0.6306590879235525, 0.8067317315651668, 0.31274910119064614, -0.10357892862868909, 0.8383968072808136, 0.1631884505639927], "std": [1.3087042700466898, 1.3567177462847848, 0.11843218730401382, 0.19842624270544537, 0.20138478137759244, 0.1250491677445544, 0.2575923478533549], "min": [-2.684368848800659, -1.8835119009017944, 0.6000111699104309, -0.003802478313446045, -0.661587119102478, 0.5547165870666504, -0.013227462768554688], "max": [2.5232865810394287, 1.8109148740768433, 0.9347732067108154, 0.5543328523635864, 0.057707279920578, 0.9935028553009033, 0.7253084182739258], "count": [1205]}, "observation.environment_state": {"mean": [1.489774975984423, -0.6003398124236784, 0.734853989504185, 0.9022957014839679, 0.089315870344167, 0.048859850117960416, 0.16606379511228325, 1.2000000476837158, -1.7999999523162842, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 2.2056902723193663, 1.99322411450113, 0.530000110137512, 0.9999999999505356, -6.668801771046642e-07, 1.6168495594774432e-07, 1.7248221053220516e-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], "std": [0.5883069402041616, 1.3818867955169594, 0.12361277796307622, 0.1555460450367396, 0.21667848062638095, 0.12454229398935057, 0.2475192010505154, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.408289469309801e-06, 3.2216197032127495e-06, 6.02954973589893e-07, 1.7163517636280805e-09, 5.3318172306541495e-06, 3.892605346933574e-06, 5.784705989046002e-05, 0.0, 0.0, 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": [0.552991509437561, -1.8018327951431274, 0.6009998321533203, 0.5843877196311951, -0.017828023061156273, -0.06419283151626587, -0.004211230669170618, 1.2000000476837158, -1.7999999523162842, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 2.205688714981079, 1.9932228326797485, 0.5299999117851257, 0.9999999403953552, -0.0001844127255026251, -2.492415887900279e-06, -9.029322973219678e-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": [2.5822694301605225, 1.8967305421829224, 0.9239757657051086, 1.0, 0.6253393888473511, 0.35751792788505554, 0.7581619620323181, 1.2000000476837158, -1.7999999523162842, 0.5299999713897705, 1.0, 0.0, 0.0, 0.0, 2.2057018280029297, 1.9932360649108887, 0.5300208926200867, 1.0, 1.2995700444662361e-06, 0.0001341071620117873, 0.00021047558402642608, 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": [1205]}, "action.command": {"mean": [-0.611801548759536, -1.3005513645487257, 0.6984487394018486, 0.0, 0.0, 0.0, 0.0, 1.1023417172593235, 0.9391795441908931, -0.6332034922922991, 0.8103232574483569, 0.31425153276164836, -0.10647302707905093, 0.8389019846709418, 0.16042335867076662, 0.5, -0.5956622723600652, -1.280957785499568, 0.6984487394018486, 0.0, 0.0, 0.0, 0.0, 2.0, 0.633427833437477, -0.9174245669515712, 0.8469952541117621, 0.34250644891347626, -0.13952895112354124, 0.8620522272321257, 0.07597170863048425, 0.0, -0.5594813635960074, -1.252166929000085, 0.6984487394018486, 0.0, 0.0, 0.0, 0.0, 2.0, 0.633427833437477, -0.9174245669515712, 0.8469952541117621, 0.34250644891347626, -0.13952895112354124, 0.8620522272321257, 0.07597170863048425, 0.0, -0.52759095676022, -1.2411639215332446, 0.6984487394018486, 0.0, 0.0, 0.0, 0.0, 2.0, 0.633427833437477, -0.9174245669515712, 0.8469952541117621, 0.34250644891347626, -0.13952895112354124, 0.8620522272321257, 0.07597170863048425, 0.0, -0.4974054754665582, -1.2253759611066024, 0.6984487394018486, 0.0, 0.0, 0.0, 0.0, 2.0, 0.633427833437477, -0.9174245669515712, 0.8469952541117621, 0.34250644891347626, -0.13952895112354124, 0.8620522272321257, 0.07597170863048425, 0.0, -0.45877716660794643, -1.2013791401197416, 0.6984487394018486, 0.0, 0.0, 0.0, 0.0, 2.0, 0.633427833437477, -0.9174245669515712, 0.8469952541117621, 0.34250644891347626, -0.13952895112354124, 0.8620522272321257, 0.07597170863048425, 0.0, -0.43031702891434775, -1.1830282269027268, 0.6984487394018486, 0.0, 0.0, 0.0, 0.0, 2.0, 0.633427833437477, -0.9174245669515712, 0.8469952541117621, 0.34250644891347626, -0.13952895112354124, 0.8620522272321257, 0.07597170863048425, 0.0, -0.4113036902693959, -1.1303553399521036, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.38760464601702505, -1.1094226322003773, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.33245138800763463, -1.0885796802336132, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.3128407120704651, -1.0703795891690564, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.2579925562654223, -1.0472444525399764, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.24011676605645713, -1.0302321710369804, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.21075255104473659, -1.0086871611220496, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.16846889768327986, -0.9791543340528166, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.13204292778844956, -0.9668188677205668, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.09267581794169041, -0.9511859789297178, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.05334417123299141, -0.9249929650263353, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, -0.021478980121674474, -0.9052943197163669, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, 0.02536704929231049, -0.8831784613720782, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, 0.052080148826171825, -0.8540960692740106, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, 0.1040849382420639, -0.8413695980976155, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, 0.12574130374115783, -0.8329057146976521, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, 0.18280210076988518, -0.7995607614517212, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, 0.20316166148170248, -0.7711527734607845, 0.7329176382294723, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6242955166991655, -0.8745375246003076, 0.8437306467588845, 0.33461624033652343, -0.14611690631038027, 0.8619270441594062, 0.07962053199283561, 0.0, 0.3024082026391659, -0.8130698479571432, 0.8743111873572728, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6333075178166231, -0.7982933071190081, 0.8274927660354279, 0.29978179034290825, -0.17261516760797505, 0.8611306786162298, 0.09383685984220444, 0.0, 0.3156324175168883, -0.811961866774649, 0.8743111873572728, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6333075178166231, -0.7982933071190081, 0.8274927660354279, 0.29978179034290825, -0.17261516760797505, 0.8611306786162298, 0.09383685984220444, 0.0, 0.40100772988121464, -0.7842820742220249, 0.8743111873572728, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6333075178166231, -0.7982933071190081, 0.8274927660354279, 0.29978179034290825, -0.17261516760797505, 0.8611306786162298, 0.09383685984220444, 0.0, 0.40837558597888585, -0.765130636827001, 0.8743111873572728, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6333075178166231, -0.7982933071190081, 0.8274927660354279, 0.29978179034290825, -0.17261516760797505, 0.8611306786162298, 0.09383685984220444, 0.0, 0.4840364557392192, -0.7568716755453145, 0.8743111873572728, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6333075178166231, -0.7982933071190081, 0.8274927660354279, 0.29978179034290825, -0.17261516760797505, 0.8611306786162298, 0.09383685984220444, 0.0, 0.49959320167325577, -0.7496962266148262, 0.8743111873572728, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6333075178166231, -0.7982933071190081, 0.8274927660354279, 0.29978179034290825, -0.17261516760797505, 0.8611306786162298, 0.09383685984220444, 0.0, 0.5438882416149355, -0.7304758564481195, 0.8743111873572728, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6333075178166231, -0.7982933071190081, 0.8274927660354279, 0.29978179034290825, -0.17261516760797505, 0.8611306786162298, 0.09383685984220444, 0.0, 0.5918196698404709, -0.7141683652715863, 0.8743111873572728, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6333075178166231, -0.7982933071190081, 0.8274927660354279, 0.29978179034290825, -0.17261516760797505, 0.8611306786162298, 0.09383685984220444, 0.0, 0.5986184095436672, -0.7024970853103781, 0.8743111873572728, 0.0, 0.0, 0.0, 0.0, 2.0, 0.6333075178166231, -0.7982933071190081, 0.8274927660354279, 0.29978179034290825, -0.17261516760797505, 0.8611306786162298, 0.09383685984220444, 0.0, 0.26162987301148566, -1.2456342872366848, 0.6813092691352568, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2121899861947121, -1.2265589353011315, 0.8001768922949412, 0.2825770670450835, -0.05243411784277234, 0.929523935160005, 0.022681647801096643, 0.0, 0.27944598858615, -1.243970611009253, 0.6813092691352568, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2121899861947121, -1.2265589353011315, 0.8001768922949412, 0.2825770670450835, -0.05243411784277234, 0.929523935160005, 0.022681647801096643, 0.0, 0.3775220850864089, -1.2384801169475876, 0.6813092691352568, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2121899861947121, -1.2265589353011315, 0.8001768922949412, 0.2825770670450835, -0.05243411784277234, 0.929523935160005, 0.022681647801096643, 0.0, 0.4040300982544221, -1.2360774695155132, 0.6813092691352568, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2121899861947121, -1.2265589353011315, 0.8001768922949412, 0.2825770670450835, -0.05243411784277234, 0.929523935160005, 0.022681647801096643, 0.0, 0.4934142971613321, -1.2313260141625462, 0.6813092691352568, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2121899861947121, -1.2265589353011315, 0.8001768922949412, 0.2825770670450835, -0.05243411784277234, 0.929523935160005, 0.022681647801096643, 0.0, 0.4953732928597783, -1.2210253017494477, 0.6813092691352568, 0.0, 0.0, 0.0, 0.0, 2.0, 0.2121899861947121, -1.2265589353011315, 0.8001768922949412, 0.2825770670450835, -0.05243411784277234, 0.929523935160005, 0.022681647801096643, 0.0, -0.7055369019508362, -1.8314640522003174, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.6882301568984985, -1.8309497833251953, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.5875852704048157, -1.827959418296814, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.5661619901657104, -1.8273229598999023, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.46963363885879517, -1.8244549036026, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.4440940022468567, -1.8236961364746094, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.35168203711509705, -1.8209503889083862, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.32202595472335815, -1.8200693130493164, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.23373033106327057, -1.8174458742141724, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.19995784759521484, -1.8164424896240234, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.1157786101102829, -1.8139413595199585, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, -0.07788974046707153, -1.8128156661987305, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.0022065844386816025, -1.8104358911514282, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.04438159987330437, -1.8091827630996704, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.12136373668909073, -1.8068954944610596, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.16951557993888855, -1.8054648637771606, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.24643822014331818, -1.803179383277893, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.30403199791908264, -1.8014681339263916, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.3852418065071106, -1.7990553379058838, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.4551074504852295, -1.796979546546936, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.5474246144294739, -1.794236660003662, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0, 0.593999981880188, -1.7999999523162842, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -0.9235066333455397, -1.8321250875790913, 0.7037005295567479, 0.11941532637421967, -0.017162052701484968, 0.9925250115124047, 0.0001013906939278839, 0.0], "std": [1.9158456930023726, 0.6398423787490547, 0.7705959876861104, 0.0, 0.0, 0.0, 0.0, 1.373748323256166, 1.3283680466131074, 1.3403225939973173, 0.11903214657866433, 0.19808859315943925, 0.20269727668313955, 0.12494149970857775, 0.25393267734909786, 0.5, 1.8964666843342182, 0.6463904639135499, 0.7705959876861104, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4403942016199471, 0.9758660717260217, 0.10510691206119617, 0.17082492634088264, 0.22507594821749444, 0.13054724961827066, 0.13203253828937486, 0.0, 1.875278192051739, 0.6640860035301704, 0.7705959876861104, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4403942016199471, 0.9758660717260217, 0.10510691206119617, 0.17082492634088264, 0.22507594821749444, 0.13054724961827066, 0.13203253828937486, 0.0, 1.8521206973596134, 0.6622138292477698, 0.7705959876861104, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4403942016199471, 0.9758660717260217, 0.10510691206119617, 0.17082492634088264, 0.22507594821749444, 0.13054724961827066, 0.13203253828937486, 0.0, 1.8312884132391871, 0.6587118290672043, 0.7705959876861104, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4403942016199471, 0.9758660717260217, 0.10510691206119617, 0.17082492634088264, 0.22507594821749444, 0.13054724961827066, 0.13203253828937486, 0.0, 1.810279104465899, 0.6807686651456967, 0.7705959876861104, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4403942016199471, 0.9758660717260217, 0.10510691206119617, 0.17082492634088264, 0.22507594821749444, 0.13054724961827066, 0.13203253828937486, 0.0, 1.7923492380825394, 0.700564474009116, 0.7705959876861104, 0.0, 0.0, 0.0, 0.0, 0.0, 1.4403942016199471, 0.9758660717260217, 0.10510691206119617, 0.17082492634088264, 0.22507594821749444, 0.13054724961827066, 0.13203253828937486, 0.0, 1.8111823354689693, 0.7043498803959499, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.792815212744136, 0.7064554557538515, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.7750097343635292, 0.7268658038368065, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.7574279359606608, 0.7424039959477824, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.7378174761862324, 0.7512448618585346, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.7221083280594474, 0.762721565252964, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.6859770675779542, 0.7760801316103138, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.688055354207669, 0.7893186411035822, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.6529833632706368, 0.8046313410027487, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.6562843531843356, 0.8249437071625595, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.6217038432709867, 0.8347576162996836, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.6246958055559204, 0.8451847319847972, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.592255627369185, 0.8662896786263006, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.5958985772775098, 0.8932698249748158, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.5647391243297668, 0.8990776450330081, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.5672534641834979, 0.9046166176588843, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.5392537586867694, 0.9329889957049816, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.5418079536352005, 0.9660513697622514, 0.7732144753626777, 0.0, 0.0, 0.0, 0.0, 0.0, 1.474791396176245, 0.979897847557774, 0.1065873556356733, 0.1711632230009286, 0.22855113178167155, 0.13372765518468693, 0.134197118727481, 0.0, 1.665085433890314, 1.0567129895356506, 0.7803491445857789, 0.0, 0.0, 0.0, 0.0, 0.0, 1.622452013754028, 1.0501203239769357, 0.11062330529009169, 0.16880587394863802, 0.24331250348436964, 0.14712869456463337, 0.14366818307635248, 0.0, 1.6653369084309977, 1.0569640230914519, 0.7803491445857789, 0.0, 0.0, 0.0, 0.0, 0.0, 1.622452013754028, 1.0501203239769357, 0.11062330529009169, 0.16880587394863802, 0.24331250348436964, 0.14712869456463337, 0.14366818307635248, 0.0, 1.6382720449372168, 1.0922751053498438, 0.7803491445857789, 0.0, 0.0, 0.0, 0.0, 0.0, 1.622452013754028, 1.0501203239769357, 0.11062330529009169, 0.16880587394863802, 0.24331250348436964, 0.14712869456463337, 0.14366818307635248, 0.0, 1.638018195461525, 1.122318803136238, 0.7803491445857789, 0.0, 0.0, 0.0, 0.0, 0.0, 1.622452013754028, 1.0501203239769357, 0.11062330529009169, 0.16880587394863802, 0.24331250348436964, 0.14712869456463337, 0.14366818307635248, 0.0, 1.6004040424506478, 1.1281726497663078, 0.7803491445857789, 0.0, 0.0, 0.0, 0.0, 0.0, 1.622452013754028, 1.0501203239769357, 0.11062330529009169, 0.16880587394863802, 0.24331250348436964, 0.14712869456463337, 0.14366818307635248, 0.0, 1.6098256365686012, 1.137643930829516, 0.7803491445857789, 0.0, 0.0, 0.0, 0.0, 0.0, 1.622452013754028, 1.0501203239769357, 0.11062330529009169, 0.16880587394863802, 0.24331250348436964, 0.14712869456463337, 0.14366818307635248, 0.0, 1.5657278710798057, 1.1654343154747677, 0.7803491445857789, 0.0, 0.0, 0.0, 0.0, 0.0, 1.622452013754028, 1.0501203239769357, 0.11062330529009169, 0.16880587394863802, 0.24331250348436964, 0.14712869456463337, 0.14366818307635248, 0.0, 1.583549101530928, 1.185763593866403, 0.7803491445857789, 0.0, 0.0, 0.0, 0.0, 0.0, 1.622452013754028, 1.0501203239769357, 0.11062330529009169, 0.16880587394863802, 0.24331250348436964, 0.14712869456463337, 0.14366818307635248, 0.0, 1.5882813277272854, 1.2038769246370888, 0.7803491445857789, 0.0, 0.0, 0.0, 0.0, 0.0, 1.622452013754028, 1.0501203239769357, 0.11062330529009169, 0.16880587394863802, 0.24331250348436964, 0.14712869456463337, 0.14366818307635248, 0.0, 1.509411449175698, 0.6813874278898663, 0.7784701708738309, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5949249855674417, 0.699392172413536, 0.11039561453382665, 0.18706749361501898, 0.09448639913163963, 0.07718573458271526, 0.05470297302400697, 0.0, 1.5241038917412069, 0.6831200043977458, 0.7784701708738309, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5949249855674417, 0.699392172413536, 0.11039561453382665, 0.18706749361501898, 0.09448639913163963, 0.07718573458271526, 0.05470297302400697, 0.0, 1.5070583377471678, 0.6855574213750649, 0.7784701708738309, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5949249855674417, 0.699392172413536, 0.11039561453382665, 0.18706749361501898, 0.09448639913163963, 0.07718573458271526, 0.05470297302400697, 0.0, 1.5269786991393517, 0.6879946020369119, 0.7784701708738309, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5949249855674417, 0.699392172413536, 0.11039561453382665, 0.18706749361501898, 0.09448639913163963, 0.07718573458271526, 0.05470297302400697, 0.0, 1.5047052263186411, 0.6897274739391445, 0.7784701708738309, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5949249855674417, 0.699392172413536, 0.11039561453382665, 0.18706749361501898, 0.09448639913163963, 0.07718573458271526, 0.05470297302400697, 0.0, 1.491872202596865, 0.7010493044520734, 0.7784701708738309, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5949249855674417, 0.699392172413536, 0.11039561453382665, 0.18706749361501898, 0.09448639913163963, 0.07718573458271526, 0.05470297302400697, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0807620971026985, 0.029534255723999352, 0.007344113381714721, 0.004187245194674926, 0.017554812245170026, 0.0011943570361966653, 0.0035559037021118, 0.0], "min": [-3.05230712890625, -1.9011906385421753, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, -2.684368848800659, -1.8834474086761475, 0.5871368050575256, -0.0024549998342990875, -0.6612042188644409, 0.5548707246780396, -0.010998852550983429, 0.0, -3.0083024501800537, -1.8998831510543823, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.94734525680542, -1.8980720043182373, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.8861820697784424, -1.8962547779083252, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.8293447494506836, -1.8945660591125488, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.764061212539673, -1.892626404762268, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.711344003677368, -1.8910601139068604, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.6419408321380615, -1.888998031616211, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.5933432579040527, -1.8875541687011719, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.519819736480713, -1.8853696584701538, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.475342273712158, -1.8840481042861938, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.3976991176605225, -1.8817411661148071, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.3573415279388428, -1.8805420398712158, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.275578498840332, -1.8781126737594604, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.2393407821655273, -1.8770359754562378, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.1534578800201416, -1.8744843006134033, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.121340036392212, -1.8735300302505493, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.031337261199951, -1.8708559274673462, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -2.0033392906188965, -1.8700240850448608, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.9092165231704712, -1.867227554321289, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.8853384256362915, -1.8665181398391724, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.787095546722412, -1.863599181175232, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.767337441444397, -1.8630120754241943, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.6649749279022217, -1.8599706888198853, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.649336814880371, -1.8595060110092163, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.5428543090820312, -1.8563421964645386, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.5313360691070557, -1.8559999465942383, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.4207335710525513, -1.8527138233184814, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.4133354425430298, -1.8524940013885498, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.2986127138137817, -1.8490854501724243, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.2953343391418457, -1.8489880561828613, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.2014366388320923, -1.8461982011795044, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.177343487739563, -1.845482349395752, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.1765025854110718, -1.8454573154449463, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.6612042188644409, 0.5548707246780396, -0.007197233848273754, 0.0, -1.0593918561935425, -1.8419777154922485, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.5716831088066101, 0.6457357406616211, -0.007197233848273754, 0.0, -1.0544344186782837, -1.8418303728103638, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.5716831088066101, 0.6457357406616211, -0.007197233848273754, 0.0, -0.941440224647522, -1.8384730815887451, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.5716831088066101, 0.6457357406616211, -0.007197233848273754, 0.0, -0.9323663115501404, -1.8382034301757812, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.5716831088066101, 0.6457357406616211, -0.007197233848273754, 0.0, -0.8234885931015015, -1.8349685668945312, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.5716831088066101, 0.6457357406616211, -0.007197233848273754, 0.0, -0.8102982640266418, -1.8345766067504883, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.5716831088066101, 0.6457357406616211, -0.007197233848273754, 0.0, -0.7055369019508362, -1.8314640522003174, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.6882301568984985, -1.8309497833251953, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.5875852704048157, -1.827959418296814, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.5661619901657104, -1.8273229598999023, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.46963363885879517, -1.8244549036026, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.4440940022468567, -1.8236961364746094, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.35168203711509705, -1.8209503889083862, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.32202595472335815, -1.8200693130493164, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.23373033106327057, -1.8174458742141724, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.19995784759521484, -1.8164424896240234, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.1157786101102829, -1.8139413595199585, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, -0.07788974046707153, -1.8128156661987305, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.0022065844386816025, -1.8104358911514282, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.04438159987330437, -1.8091827630996704, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.12136373668909073, -1.8068954944610596, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.16951557993888855, -1.8054648637771606, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.24643822014331818, -1.803179383277893, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.30403199791908264, -1.8014681339263916, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.3852418065071106, -1.7990553379058838, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.4551074504852295, -1.796979546546936, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.5474246144294739, -1.794236660003662, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0, 0.593999981880188, -1.7999999523162842, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, -2.684368848800659, -1.8834474086761475, 0.6513950228691101, 0.11319658160209656, -0.09156995266675949, 0.9873355627059937, -0.007197233848273754, 0.0], "max": [2.11954927444458, -0.44840142130851746, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.8076355457305908, 0.9347147345542908, 0.555705726146698, 0.008511128835380077, 0.9934960603713989, 0.7234202027320862, 1.0, 2.122342586517334, -0.3912756145000458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.002039511688053608, 0.9934960603713989, 0.3803142011165619, 0.0, 2.127031087875366, -0.2953888475894928, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.002039511688053608, 0.9934960603713989, 0.3803142011165619, 0.0, 2.1274240016937256, -0.2873525619506836, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.002039511688053608, 0.9934960603713989, 0.3803142011165619, 0.0, 2.1278886795043945, -0.27784889936447144, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.002039511688053608, 0.9934960603713989, 0.3803142011165619, 0.0, 2.132505416870117, -0.18342947959899902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.002039511688053608, 0.9934960603713989, 0.3803142011165619, 0.0, 2.136409282684326, -0.10358826071023941, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.002039511688053608, 0.9934960603713989, 0.3803142011165619, 0.0, 2.137586832046509, -0.07950640469789505, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.138979434967041, -0.05102743208408356, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.1426682472229004, 0.024416649714112282, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.145787477493286, 0.08821229636669159, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.147749423980713, 0.12833969295024872, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.1500697135925293, 0.17579349875450134, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.1528308391571045, 0.23226268589496613, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.155165672302246, 0.2800131142139435, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.157912254333496, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.161160469055176, 0.4026148021221161, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.1629936695098877, 0.44010868668556213, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.164543867111206, 0.4718136191368103, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.1680750846862793, 0.5440317988395691, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.172250986099243, 0.6294361352920532, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.173156499862671, 0.6479547619819641, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.173922061920166, 0.6636140942573547, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.1782379150390625, 0.7518778443336487, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.183300018310547, 0.8554059863090515, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, 0.0006257931236177683, 0.9934960603713989, 0.3803142011165619, 0.0, 2.183319330215454, 0.8558010458946228, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.3803142011165619, 0.0, 2.183342456817627, 0.8562717437744141, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.3803142011165619, 0.0, 2.18841552734375, 0.9600276350975037, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.3803142011165619, 0.0, 2.192633867263794, 1.046302318572998, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.3803142011165619, 0.0, 2.193571090698242, 1.065468192100525, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.3803142011165619, 0.0, 2.194850206375122, 1.091629981994629, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.3803142011165619, 0.0, 2.1988601684570312, 1.1736407279968262, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.3803142011165619, 0.0, 2.2015938758850098, 1.2295476198196411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.3803142011165619, 0.0, 2.200000047683716, 1.2799999713897705, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, 1.572248935699463, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.3803142011165619, 0.0, 1.9862971305847168, -0.46707481145858765, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, -0.04105308651924133, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.32705169916152954, 0.0, 2.0209009647369385, -0.4634314775466919, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, -0.04105308651924133, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.32705169916152954, 0.0, 2.0995006561279297, -0.45515596866607666, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, -0.04105308651924133, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.32705169916152954, 0.0, 2.1487698554992676, -0.4499685764312744, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, -0.04105308651924133, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.32705169916152954, 0.0, 2.2127041816711426, -0.4432371258735657, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, -0.04105308651924133, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.32705169916152954, 0.0, 2.200000047683716, -0.41999998688697815, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.5233752727508545, -0.04105308651924133, 0.9347147345542908, 0.5148535370826721, -0.0074807689525187016, 0.9934960603713989, 0.32705169916152954, 0.0, -0.7055369019508362, -1.8314640522003174, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.6882301568984985, -1.8309497833251953, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.5875852704048157, -1.827959418296814, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.5661619901657104, -1.8273229598999023, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.46963363885879517, -1.8244549036026, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.4440940022468567, -1.8236961364746094, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.35168203711509705, -1.8209503889083862, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.32202595472335815, -1.8200693130493164, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.23373033106327057, -1.8174458742141724, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.19995784759521484, -1.8164424896240234, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.1157786101102829, -1.8139413595199585, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, -0.07788974046707153, -1.8128156661987305, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.0022065844386816025, -1.8104358911514282, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.04438159987330437, -1.8091827630996704, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.12136373668909073, -1.8068954944610596, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.16951557993888855, -1.8054648637771606, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.24643822014331818, -1.803179383277893, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.30403199791908264, -1.8014681339263916, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.3852418065071106, -1.7990553379058838, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.4551074504852295, -1.796979546546936, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.5474246144294739, -1.794236660003662, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0, 0.593999981880188, -1.7999999523162842, 0.0, 0.0, 0.0, 0.0, 0.0, 2.0, 0.8512739539146423, -1.7754371166229248, 0.710390567779541, 0.13272395730018616, -0.0074807689525187016, 0.9934960603713989, 0.015733957290649414, 0.0], "count": [1205]}, "action.applied": {"mean": [0.24715183012774872, 0.6126379407787719, -1.062984115652029, -0.21828881256375077, 0.6325976602022084, -1.0752179732461193, 0.1746519915357665, 0.718849833822844, -1.167210055436336, -0.17772146008012205, 0.6700015338130016, -1.1567621497692409, 0.014950232527902155, 1.7921538808039115, -1.5053066638495418, 0.05840084629411936, 0.4390983456738015, 0.1786793000525156, 0.003427385906708191, -0.003427385906708191], "std": [0.14568369994302371, 0.10691257311372675, 0.1795114497437972, 0.15047994390927344, 0.13361057826329437, 0.17792861349578665, 0.13277626815361487, 0.1342593549663777, 0.20771274208345625, 0.13796386616234532, 0.09435685273941052, 0.1837007556167304, 0.03869440044927772, 0.4121439753666837, 0.3815427497704888, 0.2560184142004254, 0.36208101631600886, 0.49292469436320907, 0.010402477257461788, 0.010402477257461788], "min": [-0.12207843363285065, 0.34711921215057373, -1.4981187582015991, -0.5520972013473511, 0.3356117010116577, -1.4075853824615479, -0.1252855807542801, 0.3590019941329956, -1.536378026008606, -0.5424412488937378, 0.4453442692756653, -1.537036418914795, -0.08583386242389679, 1.4291198253631592, -2.3444933891296387, -0.05690433830022812, -0.6074899435043335, -0.19867339730262756, 0.0, -0.03500000014901161], "max": [0.6039404273033142, 0.8770248889923096, -0.7579968571662903, 0.15199288725852966, 0.9167040586471558, -0.7233738899230957, 0.4743858277797699, 1.0663594007492065, -0.747871994972229, 0.2524661123752594, 1.032059907913208, -0.7616267800331116, 0.12597422301769257, 2.786532163619995, -0.9395596981048584, 1.7420730590820312, 0.8204658627510071, 1.563297152519226, 0.03500000014901161, 0.0], "count": [1205]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1205]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1205]}, "sim_step_idx": {"mean": [1265.0], "std": [695.7068348090307], "min": [61.0], "max": [2469.0], "count": [1205]}, "timestamp": {"mean": [24.080000001253925], "std": [13.914136694717703], "min": [0.0], "max": [48.15999984741211], "count": [1205]}, "frame_index": {"mean": [602.0], "std": [347.85341740451537], "min": [0.0], "max": [1204.0], "count": [1205]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1205]}, "index": {"mean": [602.0], "std": [347.85341740451537], "min": [0.0], "max": [1204.0], "count": [1205]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1205]}, "next.done": {"mean": [0.0008298755186721991], "std": [0.028795604270369247], "min": [0.0], "max": [1.0], "count": [1205]}, "observation.images.head": {"mean": [[[0.5566980432971553]], [[0.5146380736788457]], [[0.45835027829861447]]], "std": [[[0.060341770902464974]], [[0.07534822939337103]], [[0.10702532561118087]]], "min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[0.8784313725490196]], [[0.8784313725490196]], [[0.8784313725490196]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5882902857865208]], [[0.5476508564331999]], [[0.4796574984712442]]], "std": [[[0.14679858276445307]], [[0.13816990643901475]], [[0.13305625959816156]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9450980392156862]], [[0.9215686274509803]]], "count": [100]}}}

N010/go2_arm/dr_off/seed_7051/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": 2409,
+ "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": [
+      4.196782848444694,
+      -0.6868961342844359,
+      -0.11473074637002512
+     ],
+     "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": [
+      5.881390841595647,
+      2.8627466433652966,
+      -0.16090498692697958
+     ],
+     "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": [
+      4.199671344824105,
+      -0.685015246766936,
+      0.13524549020219917
+     ],
+     "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": [
+      4.200491570336687,
+      -0.6844812502012028,
+      0.2062385760882025
+     ],
+     "bbox": {
+      "extent": [
+       0.24200014842588236,
+       0.07000028212493264,
+       0.02800138859224699
+      ],
+      "center": [
+       0.007000009668148989,
+       -9.632018994898406e-09,
+       -2.948140968017654e-07
+      ]
+     }
+    },
+    {
+     "id": "strike_block_1",
+     "cat_name": "strike_block",
+     "inst_id": 1,
+     "noun": "strike block",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      5.888618816273948,
+      2.8569164738122264,
+      0.08907909803557736
+     ],
+     "bbox": {
+      "extent": [
+       0.07000011234284301,
+       0.07000011945188317,
+       0.04000037772647336
+      ],
+      "center": [
+       -1.5612511283791264e-16,
+       -1.1449174941446927e-16,
+       0.01999999999999985
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "hammer_1",
+     "relation": "on_top_of",
+     "object": "hammer_rack_1"
+    },
+    {
+     "subject": "strike_block_1",
+     "relation": "on_top_of",
+     "object": "table_b_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        607.7061061683956,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        607.3754374751866,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 55.53991912549515,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.681166978572632,
+      1.278413440155949,
+      -0.3100189990205383
+     ],
+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0034545225363202814,
+        -0.9995776319673901,
+        0.028855223868669955
+       ],
+       [
+        -0.02338972540530354,
+        0.0287667346071393,
+        0.9993124615081647
+       ],
+       [
+        -0.9997204544368945,
+        -0.0041270631819024794,
+        -0.023280471000004077
+       ]
+      ],
+      "t": [
+       0.03416419479862187,
+       -0.08682200219228882,
+       0.33429322289826396
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        617.2500342478374,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        617.548655622722,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 54.807019583348044,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.2745617046048507,
+      1.3211010376352705,
+      -0.3533843689153136
+     ],
+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.017356943317221596,
+        -0.9998337334638687,
+        0.005589449560045617
+       ],
+       [
+        -0.9382601518788614,
+        -0.014355819960515381,
+        0.34563246061317376
+       ],
+       [
+        -0.3454947523696107,
+        -0.011243480820582297,
+        -0.9383533237667454
+       ]
+      ],
+      "t": [
+       0.006333551580298355,
+       -0.08611861262827436,
+       0.017148138726427706
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.0439288831495337,
+       -1.89783393907098,
+       0.42000000000000004
+      ],
+      "ori": [
+       0.9956880211830139,
+       0.0,
+       0.0,
+       0.09276489913463593
+      ]
+     },
+     "facing_yaw_deg": 10.645379434729815,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front, at 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": 0.0,
+    "support": null
+   },
+   "generic_instruction": "Stationhammer the object.",
+   "task_id": "N010",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/lerobot_v21/meta/info.json

@@ -0,0 +1,301 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 1205,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "base_action_0",
+                "base_action_1",
+                "base_action_2",
+                "base_action_3",
+                "eef0.pos_x",
+                "eef0.pos_y",
+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
+                "eef0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": [
+                "joint_0",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "joint_8",
+                "joint_9",
+                "joint_10",
+                "joint_11",
+                "joint_12",
+                "joint_13",
+                "joint_14",
+                "joint_15",
+                "joint_16",
+                "joint_17",
+                "joint_18",
+                "joint_19",
+                "joint_20",
+                "joint_21",
+                "joint_22",
+                "joint_23",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": [
+                "go2_FL_hip_joint",
+                "go2_FR_hip_joint",
+                "go2_RL_hip_joint",
+                "go2_RR_hip_joint",
+                "piper_joint1",
+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
+                "go2_RL_thigh_joint",
+                "go2_RR_thigh_joint",
+                "piper_joint2",
+                "go2_FL_calf_joint",
+                "go2_FR_calf_joint",
+                "go2_RL_calf_joint",
+                "go2_RR_calf_joint",
+                "piper_joint3",
+                "piper_joint4",
+                "piper_joint5",
+                "piper_joint6",
+                "piper_joint7",
+                "piper_joint8"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                35
+            ],
+            "names": [
+                "object_pose.hammer.0",
+                "object_pose.hammer.1",
+                "object_pose.hammer.2",
+                "object_pose.hammer.3",
+                "object_pose.hammer.4",
+                "object_pose.hammer.5",
+                "object_pose.hammer.6",
+                "object_pose.hammer_rack.0",
+                "object_pose.hammer_rack.1",
+                "object_pose.hammer_rack.2",
+                "object_pose.hammer_rack.3",
+                "object_pose.hammer_rack.4",
+                "object_pose.hammer_rack.5",
+                "object_pose.hammer_rack.6",
+                "object_pose.strike_block.0",
+                "object_pose.strike_block.1",
+                "object_pose.strike_block.2",
+                "object_pose.strike_block.3",
+                "object_pose.strike_block.4",
+                "object_pose.strike_block.5",
+                "object_pose.strike_block.6",
+                "object_pose.table_a.0",
+                "object_pose.table_a.1",
+                "object_pose.table_a.2",
+                "object_pose.table_a.3",
+                "object_pose.table_a.4",
+                "object_pose.table_a.5",
+                "object_pose.table_a.6",
+                "object_pose.table_b.0",
+                "object_pose.table_b.1",
+                "object_pose.table_b.2",
+                "object_pose.table_b.3",
+                "object_pose.table_b.4",
+                "object_pose.table_b.5",
+                "object_pose.table_b.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                992
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 14:26:47"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationhammer/000",
+        "task_type": "StationHammer"
+    }
+}

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/lerobot_v21/meta/tasks.jsonl

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

N010/go2_arm/dr_off/seed_7051/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 sha256:30aa4212ca5dc300c82e42629f4f3c86001ebc403e0220adcd1cc980580d7903
+size 5264333

N010/go2_arm/dr_off/seed_7051/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 sha256:8bc1ef1058c6d8ceb6e4d66c76fe28a75d2b6eaf955e18d7a4673d249222fe26
+size 23915525

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/run_meta.json

@@ -0,0 +1,761 @@
+{
+    "run_id": "stationhammer/000",
+    "created": "2026-11-08 14:14:35",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n010_go2_off_7051/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": 7051
+            },
+            "robot": {
+                "Go2Plus": {
+                    "name": "go2plus",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.5,
+                                -2.3,
+                                0.42000000000000004
+                            ],
+                            [
+                                -2.9000000000000004,
+                                -1.7,
+                                0.42000000000000004
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0.0,
+                                0.0,
+                                -20.0
+                            ],
+                            [
+                                0.0,
+                                0.0,
+                                20.0
+                            ]
+                        ],
+                        "initial_joint_pos": null
+                    },
+                    "action": {
+                        "base_action": "unified",
+                        "arm_action": "ik_curobo",
+                        "eef_action": "binary"
+                    },
+                    "reset": "default",
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "base_x",
+                            "base_y",
+                            "base_yaw",
+                            "base_height"
+                        ],
+                        "ik": {
+                            "type": "go2plus",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 20.0,
+                            "relative_to_world_frame": false,
+                            "eef_num": 1,
+                            "debug": false,
+                            "seed_use_live_joint_pos": true
+                        },
+                        "motiongen": {
+                            "type": "go2plus",
+                            "enable": true,
+                            "batch_size": 1,
+                            "debug": false,
+                            "motiongen_num_instances": 1,
+                            "microbatch_wait_ms": 400.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "eef_num": 1,
+                            "seed_use_live_joint_pos": true,
+                            "anchor_ik_seeds_to_current_state": false,
+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4,
+                            "max_attempts": 4,
+                            "joint_limit_retry_weight": 100000000.0,
+                            "start_state_limit_inset": 0.002
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_quadruped",
+                            "dwb_quadruped": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 24.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "dilate_radius": 0.2,
+                                "goal_cost_mode": "path",
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.38,
+                                "scan_min_z": 0.15,
+                                "scan_max_z": 0.63,
+                                "goal_pos_threshold": 0.1,
+                                "goal_yaw_threshold": 0.08,
+                                "goal_yaw_hysteresis": 0.02,
+                                "kp_goal_yaw": 4.0,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "min_vx": -0.35,
+                                "max_vx": 0.35,
+                                "min_vy": -0.25,
+                                "max_vy": 0.25,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "dynamic_window_source": "command",
+                                "default_height": 0.39,
+                                "safety_min_progress_speed": 0.1,
+                                "safety_stop_distance": 0.2,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "safety_release_distance": 0.35,
+                                "scan_type": "3d",
+                                "robot_type": "quadruped",
+                                "velocity_frame": "body"
+                            },
+                            "p_controller": {
+                                "velocity_frame": "body",
+                                "nav_upgrade_distance": 0.03,
+                                "nav_heading_target": -1,
+                                "kp_linear_x": 3.0,
+                                "kd_linear_x": 0.4,
+                                "kp_linear_y": 3.0,
+                                "kd_linear_y": 0.4,
+                                "kp_angular": 1.5,
+                                "kd_angular": 0.2,
+                                "kp_angular_turning_only": 1.5,
+                                "kd_angular_turning_only": 0.2,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.5
+                    }
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8231182098388672,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.4407838582992554,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/Bodies/go2_base",
+                        "pos": [
+                            0.332051,
+                            0.038027,
+                            0.093559
+                        ],
+                        "ori": [
+                            169.9473,
+                            -88.6452,
+                            81.5985
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8517500162124634,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.4393036365509033,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/Bodies/piper_link6",
+                        "pos": [
+                            -0.074987,
+                            0.005289,
+                            0.045821
+                        ],
+                        "ori": [
+                            179.3135,
+                            -20.212,
+                            88.9402
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 65,
+                    "min_agent_radius_cm": 30.0,
+                    "max_agent_radius_cm": 30.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": false
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            },
+            "scene": {
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "background": {
+                    "intensity": [
+                        1000,
+                        1000
+                    ]
+                },
+                "objects": {
+                    "table_a": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                -1.8,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.6,
+                                0.9,
+                                0.5
+                            ]
+                        },
+                        "table_a_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "table_b": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.2,
+                                2.0,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.5
+                            ]
+                        },
+                        "table_b_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "hammer_rack": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileDaily/hammer_rack/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.53
+                                ],
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.53
+                                ]
+                            ],
+                            "ori": [
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ],
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ]
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "hammer_rack_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "hammer": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileDaily/hammer/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.602
+                                ],
+                                [
+                                    1.2,
+                                    -1.8,
+                                    0.602
+                                ]
+                            ],
+                            "ori": [
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ],
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ]
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "hammer_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "strike_block": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileDaily/strike_block/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                [
+                                    2.1900000000000004,
+                                    1.99,
+                                    0.531
+                                ],
+                                [
+                                    2.21,
+                                    2.01,
+                                    0.531
+                                ]
+                            ],
+                            "ori": [
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ],
+                                [
+                                    0,
+                                    0,
+                                    0.0
+                                ]
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "strike_block_1": {
+                            "visual": {},
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 1.0,
+                                    "dynamic_friction": 1.0,
+                                    "restitution": 0.0
+                                },
+                                "track_contact_forces": true,
+                                "prepare_contact_sensor": true,
+                                "contact_filter_prim_paths_expr": [
+                                    "/World/envs/env_.*/dynamic/hammer/hammer_1"
+                                ]
+                            }
+                        }
+                    }
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 12000,
+                "success_hold_frames": 3,
+                "fall_height": 0.08,
+                "fall_tilt": 1.0
+            },
+            "station": {
+                "level": "easy",
+                "agent_id": "a02",
+                "embodiment": "go2_arm",
+                "task_version": "EXT60-MobileAvatar-v3",
+                "execution_mode": "expert_collect",
+                "layout": {
+                    "table_h": 0.5,
+                    "standoff": 0.306,
+                    "standoff_b": 0.42
+                },
+                "settle_ticks": 40,
+                "hold_ticks": 5,
+                "judge_timeout_ticks": 300,
+                "default_avoid": [],
+                "report_jsonl": "/mnt/scratch/sz850_atomic/n010_go2_off_7051/out/reports.jsonl",
+                "carried": {
+                    "type": "rigid",
+                    "name": "hammer",
+                    "id": 0
+                },
+                "tracked": [
+                    {
+                        "type": "rigid",
+                        "name": "strike_block",
+                        "id": 0
+                    }
+                ],
+                "planner_seeds": "lean",
+                "cloth_variant": null,
+                "record_scene_streams": true
+            },
+            "command": {
+                "StationHammer": {
+                    "robot_id": 0,
+                    "init_limit": 60,
+                    "max_attempt": 2,
+                    "completion_timeout_steps": 300,
+                    "stages": {
+                        "turn_first": true,
+                        "pre_strike_linear": true,
+                        "pre_clear": 0.06,
+                        "lift": 0.04,
+                        "min_lift_gain": 0.025
+                    }
+                }
+            }
+        },
+        "collect": {
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.12,
+                    "rotation_threshold": 0.12,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.012,
+                    "rotation_threshold": 0.25,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "interp_steps": 60,
+                    "debug": false,
+                    "debug_viz": false,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "interp_validate_target": true
+                },
+                "RetractMoveL": {
+                    "translation_threshold": 0.06,
+                    "rotation_threshold": 0.3,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 2000,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "base_waypoint_max_steps": 20,
+                    "arm_waypoint_max_steps": 8,
+                    "move_strategy_distance_threshold": 0.1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "StationNav": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "Move": {
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "obstacle_avoid_paths": [],
+                    "obstacle_ignore_paths": [],
+                    "close_value": 1.0,
+                    "open_value": 0.0,
+                    "hold_steps": 10
+                },
+                "Grasp": {
+                    "pre_grasp_offset": 0.1,
+                    "retrieval_offset": 0.1,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "reactive": false,
+                    "viz_grasp": false
+                }
+            },
+            "auto_collect": {
+                "max_trajectories": null
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/sz850_atomic/n010_go2_off_7051/out/record",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "command": {
+                "StationHammer": {
+                    "robot_id": 0,
+                    "init_limit": 60,
+                    "max_attempt": 2,
+                    "completion_timeout_steps": 300,
+                    "stages": {
+                        "turn_first": true,
+                        "pre_strike_linear": true,
+                        "pre_clear": 0.06,
+                        "lift": 0.04,
+                        "min_lift_gain": 0.025
+                    }
+                }
+            }
+        },
+        "env_string": "HammerEnv-V0"
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf3c5a8f43c18735f684072386ac2d3b0310fd2de1ef4ceb54f164c023bdd62
+size 546608

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,387 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationhammer/000",
+    "task_type": "StationHammer",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    -1.8,
+                                    0.28
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.6,
+                                    0.9,
+                                    0.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.2,
+                                    2.0,
+                                    0.28
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "hammer_rack": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/Assets/Object/MobileDaily/hammer_rack/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    -1.8,
+                                    0.53
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "hammer": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/Assets/Object/MobileDaily/hammer/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    1.1999999284744263,
+                                    -1.8000001907348633,
+                                    0.6009998321533203
+                                ],
+                                "ori": [
+                                    1.0,
+                                    2.338870217499789e-06,
+                                    1.3821889979226398e-06,
+                                    -4.4672304966297816e-08
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -1.698095366009511e-05,
+                                    5.6057626352412626e-05,
+                                    0.00013690273044630885
+                                ],
+                                "angular_velocity": [
+                                    -0.007325200829654932,
+                                    -0.0018621515482664108,
+                                    -9.000213321996853e-05
+                                ]
+                            }
+                        }
+                    ],
+                    "strike_block": [
+                        {
+                            "asset": "/mnt/scratch/sz850_cache/MagicSim4_1794119998-4096_1794119993-16384_/Assets/Object/MobileDaily/strike_block/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    2.205688953399658,
+                                    1.993222951889038,
+                                    0.5300001502037048
+                                ],
+                                "ori": [
+                                    1.0,
+                                    1.1308571856716298e-06,
+                                    -5.111294285597978e-07,
+                                    -5.40523465986098e-08
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "track_contact_forces": true,
+                                    "prepare_contact_sensor": true,
+                                    "contact_filter_prim_paths_expr": [
+                                        "/World/envs/env_.*/dynamic/hammer/hammer_1"
+                                    ],
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -2.404635051789228e-05,
+                                    0.00012506796338129789,
+                                    -0.00015336695651058108
+                                ],
+                                "angular_velocity": [
+                                    -0.0053107948042452335,
+                                    -0.0009793741628527641,
+                                    0.00010735100659076124
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1000.0,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "Go2Plus": {
+                "root_pose": [
+                    [
+                        -3.052306890487671,
+                        -1.9011905193328857,
+                        0.3512662947177887,
+                        0.9956626892089844,
+                        0.004288822412490845,
+                        -0.005448568612337112,
+                        0.09277806431055069
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        -0.0031259609386324883,
+                        -0.0009200666681863368,
+                        -0.0007167973089963198,
+                        -0.00047565079876221716,
+                        0.011452593840658665,
+                        0.0006771556800231338
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.04606102034449577,
+                        -0.04334624856710434,
+                        -0.06073853746056557,
+                        0.07861211895942688,
+                        -4.2750656575663015e-05,
+                        0.6873544454574585,
+                        0.7674098610877991,
+                        1.0236636400222778,
+                        1.0069934129714966,
+                        1.7055902481079102,
+                        -1.5317593812942505,
+                        -1.55548095703125,
+                        -1.5847346782684326,
+                        -1.6212246417999268,
+                        -0.9962671399116516,
+                        4.646426077670185e-06,
+                        0.7005570530891418,
+                        2.2377319055522094e-06,
+                        0.03500000014901161,
+                        -0.03499796241521835
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        -0.001691402168944478,
+                        -0.001398808672092855,
+                        0.0007120233494788408,
+                        -0.0032736866269260645,
+                        -0.00013492623111233115,
+                        -0.013290485367178917,
+                        -0.008610601536929607,
+                        -0.027857838198542595,
+                        -0.028080947697162628,
+                        -0.037461623549461365,
+                        -0.017989715561270714,
+                        -0.01863952726125717,
+                        0.006621174048632383,
+                        0.007520453073084354,
+                        -0.021235987544059753,
+                        -0.0001413296558894217,
+                        0.000686491490341723,
+                        -1.1192581951036118e-05,
+                        1.55692505359184e-05,
+                        1.5383375284727663e-05
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.33205100893974304,
+                        0.038026999682188034,
+                        0.09355899691581726,
+                        -0.5022302269935608,
+                        -0.499491810798645,
+                        0.5120040774345398,
+                        0.4859265089035034
+                    ]
+                ],
+                "wrist": [
+                    [
+                        -0.0749870017170906,
+                        0.005288999993354082,
+                        0.04582099989056587,
+                        0.1271296590566635,
+                        0.701795220375061,
+                        -0.6904057860374451,
+                        -0.12108422070741653
+                    ]
+                ]
+            }
+        }
+    }
+}

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70c906ffcdbd38eb4293b119bb8818130a2dbfd009b130629c7b15eae6a5ef78
+size 592977

N010/go2_arm/dr_off/seed_7051/record/stationhammer/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 14:27:05"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationhammer/000",
+        "task_type": "StationHammer"
+    }
+}

N010/go2_arm/dr_off/seed_7051/report.json

@@ -0,0 +1,2815 @@
+{
+ "task": "n010",
+ "robot": "go2_arm",
+ "level": "easy",
+ "dr": "on",
+ "seed": 7051,
+ "steps": 2469,
+ "summary": {
+  "episodes": 1,
+  "full_success": 1,
+  "fail_classes": {},
+  "wall_s": 728.0
+ },
+ "driver_error": null,
+ "review_cameras": [],
+ "policy_obs_signature": [
+  "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+  "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+  "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"
+ ],
+ "episodes": [
+  {
+   "spawn_pose": [
+    -3.0442676544189453,
+    -1.8979076147079468,
+    0.18622643533024397
+   ],
+   "base_path": [
+    [
+     1,
+     -3.0442676544189453,
+     -1.8979076147079468,
+     0.18622643533024397
+    ],
+    [
+     10,
+     -3.0476737022399902,
+     -1.89958655834198,
+     0.19041038265159235
+    ],
+    [
+     20,
+     -3.0484602451324463,
+     -1.8998982906341553,
+     0.18944265228588955
+    ],
+    [
+     30,
+     -3.049647808074951,
+     -1.900312900543213,
+     0.1869067630007907
+    ],
+    [
+     40,
+     -3.0507354736328125,
+     -1.9006870985031128,
+     0.1861652429170931
+    ],
+    [
+     50,
+     -3.0516133308410645,
+     -1.9009901285171509,
+     0.18609312502862854
+    ],
+    [
+     60,
+     -3.052306890487671,
+     -1.9011905193328857,
+     0.18578399791068284
+    ],
+    [
+     70,
+     -3.045665979385376,
+     -1.9010063409805298,
+     0.18356877411864586
+    ],
+    [
+     80,
+     -3.012457847595215,
+     -1.8971678018569946,
+     0.16459423326845496
+    ],
+    [
+     90,
+     -2.9637608528137207,
+     -1.8925495147705078,
+     0.12882421290848708
+    ],
+    [
+     100,
+     -2.9078757762908936,
+     -1.890073537826538,
+     0.08845854256980959
+    ],
+    [
+     110,
+     -2.84771466255188,
+     -1.8883262872695923,
+     0.053739982149018456
+    ],
+    [
+     120,
+     -2.783754587173462,
+     -1.888907790184021,
+     0.03018272345054056
+    ],
+    [
+     130,
+     -2.719332456588745,
+     -1.8886401653289795,
+     0.021017654805373143
+    ],
+    [
+     140,
+     -2.6527132987976074,
+     -1.8891469240188599,
+     0.015813193711860043
+    ],
+    [
+     150,
+     -2.5856215953826904,
+     -1.887596607208252,
+     0.018885777284880424
+    ],
+    [
+     160,
+     -2.517637014389038,
+     -1.8862253427505493,
+     0.016047467292710706
+    ],
+    [
+     170,
+     -2.4514384269714355,
+     -1.8833580017089844,
+     0.01963986971177741
+    ],
+    [
+     180,
+     -2.3840372562408447,
+     -1.8818126916885376,
+     0.018567701740567332
+    ],
+    [
+     190,
+     -2.3177568912506104,
+     -1.8792840242385864,
+     0.023805697819065715
+    ],
+    [
+     200,
+     -2.2507238388061523,
+     -1.8769397735595703,
+     0.01985636980044082
+    ],
+    [
+     210,
+     -2.1838784217834473,
+     -1.8738231658935547,
+     0.02462679909589249
+    ],
+    [
+     220,
+     -2.1160595417022705,
+     -1.8721650838851929,
+     0.021593695878151957
+    ],
+    [
+     230,
+     -2.0489461421966553,
+     -1.8693058490753174,
+     0.02567470133509358
+    ],
+    [
+     240,
+     -1.9810796976089478,
+     -1.867745041847229,
+     0.022035537584550076
+    ],
+    [
+     250,
+     -1.91399347782135,
+     -1.8649110794067383,
+     0.025937521412894675
+    ],
+    [
+     260,
+     -1.8460923433303833,
+     -1.863358974456787,
+     0.021985123735950594
+    ],
+    [
+     270,
+     -1.7790032625198364,
+     -1.860567331314087,
+     0.026422411345034723
+    ],
+    [
+     280,
+     -1.7112301588058472,
+     -1.8590728044509888,
+     0.022335043682731148
+    ],
+    [
+     290,
+     -1.6457796096801758,
+     -1.8559482097625732,
+     0.023535441244805323
+    ],
+    [
+     300,
+     -1.5786164999008179,
+     -1.8540444374084473,
+     0.01953047482047155
+    ],
+    [
+     310,
+     -1.5128045082092285,
+     -1.851024866104126,
+     0.02394078274773436
+    ],
+    [
+     320,
+     -1.445225477218628,
+     -1.8496769666671753,
+     0.020070770381558387
+    ],
+    [
+     330,
+     -1.3783577680587769,
+     -1.8471801280975342,
+     0.024831176919337516
+    ],
+    [
+     340,
+     -1.3102543354034424,
+     -1.846010684967041,
+     0.021925865454351375
+    ],
+    [
+     350,
+     -1.2434406280517578,
+     -1.843227505683899,
+     0.026195170175124766
+    ],
+    [
+     360,
+     -1.1753971576690674,
+     -1.8418142795562744,
+     0.023119471764787073
+    ],
+    [
+     370,
+     -1.1084818840026855,
+     -1.8389962911605835,
+     0.02680633774675376
+    ],
+    [
+     380,
+     -1.0403201580047607,
+     -1.8380072116851807,
+     0.022984680104641487
+    ],
+    [
+     390,
+     -0.9749322533607483,
+     -1.835112452507019,
+     0.023730568723213236
+    ],
+    [
+     400,
+     -0.9076557755470276,
+     -1.8337863683700562,
+     0.0203289604851561
+    ],
+    [
+     410,
+     -0.841754674911499,
+     -1.831028699874878,
+     0.023959892393718034
+    ],
+    [
+     420,
+     -0.7740615606307983,
+     -1.8297858238220215,
+     0.021190782676574236
+    ],
+    [
+     430,
+     -0.7072017192840576,
+     -1.8274608850479126,
+     0.02538709141739092
+    ],
+    [
+     440,
+     -0.6390202045440674,
+     -1.826076865196228,
+     0.023513226474446407
+    ],
+    [
+     450,
+     -0.572293221950531,
+     -1.823269009590149,
+     0.02647077307576169
+    ],
+    [
+     460,
+     -0.5042746663093567,
+     -1.8219400644302368,
+     0.023931245767253376
+    ],
+    [
+     470,
+     -0.43873924016952515,
+     -1.818987250328064,
+     0.02421664023361603
+    ],
+    [
+     480,
+     -0.3714970350265503,
+     -1.8176974058151245,
+     0.021188456364416935
+    ],
+    [
+     490,
+     -0.3053963780403137,
+     -1.8153172731399536,
+     0.024259094187821087
+    ],
+    [
+     500,
+     -0.23798543214797974,
+     -1.8139992952346802,
+     0.022084884996217972
+    ],
+    [
+     510,
+     -0.17115935683250427,
+     -1.811352014541626,
+     0.025121906965480875
+    ],
+    [
+     520,
+     -0.10308919101953506,
+     -1.8097926378250122,
+     0.024390822598562796
+    ],
+    [
+     530,
+     -0.03628167882561684,
+     -1.807124137878418,
+     0.026102852308397234
+    ],
+    [
+     540,
+     0.03164639323949814,
+     -1.8058750629425049,
+     0.024391042113436776
+    ],
+    [
+     550,
+     0.097559854388237,
+     -1.8033689260482788,
+     0.023840339919168712
+    ],
+    [
+     560,
+     0.1646530032157898,
+     -1.8017175197601318,
+     0.021254946727483275
+    ],
+    [
+     570,
+     0.23057274520397186,
+     -1.799731731414795,
+     0.023249614630516648
+    ],
+    [
+     580,
+     0.2939561903476715,
+     -1.799317479133606,
+     0.021775781370152094
+    ],
+    [
+     590,
+     0.35011687874794006,
+     -1.797777771949768,
+     0.023013327901523602
+    ],
+    [
+     600,
+     0.3985311686992645,
+     -1.7975132465362549,
+     0.024765514352577837
+    ],
+    [
+     610,
+     0.4388589560985565,
+     -1.7959976196289062,
+     0.02360470911838177
+    ],
+    [
+     620,
+     0.46872034668922424,
+     -1.7916890382766724,
+     0.027878714019600313
+    ],
+    [
+     630,
+     0.48753654956817627,
+     -1.7933895587921143,
+     0.022205330469935686
+    ],
+    [
+     640,
+     0.4956725835800171,
+     -1.7927838563919067,
+     0.024156077850785156
+    ],
+    [
+     650,
+     0.4963483512401581,
+     -1.7920315265655518,
+     0.015628532468149547
+    ],
+    [
+     660,
+     0.49819713830947876,
+     -1.7926123142242432,
+     0.015317949847906773
+    ],
+    [
+     670,
+     0.4996468722820282,
+     -1.7926467657089233,
+     0.01569645825471722
+    ],
+    [
+     680,
+     0.500839114189148,
+     -1.7922899723052979,
+     0.01606092026030018
+    ],
+    [
+     690,
+     0.5022536516189575,
+     -1.7918245792388916,
+     0.01610237636855773
+    ],
+    [
+     700,
+     0.5046889185905457,
+     -1.7914737462997437,
+     0.015817818312043243
+    ],
+    [
+     710,
+     0.5075518488883972,
+     -1.7910808324813843,
+     0.015701718681978432
+    ],
+    [
+     720,
+     0.510327935218811,
+     -1.7906900644302368,
+     0.01561080141051646
+    ],
+    [
+     730,
+     0.5124742984771729,
+     -1.7903375625610352,
+     0.015499975413308513
+    ],
+    [
+     740,
+     0.5138245820999146,
+     -1.7900784015655518,
+     0.015542531878622673
+    ],
+    [
+     750,
+     0.5147417783737183,
+     -1.7898880243301392,
+     0.015471880740880774
+    ],
+    [
+     760,
+     0.5154075622558594,
+     -1.7897413969039917,
+     0.015461459541412067
+    ],
+    [
+     770,
+     0.5158511400222778,
+     -1.7896708250045776,
+     0.01546082774599721
+    ],
+    [
+     780,
+     0.5158706903457642,
+     -1.7897461652755737,
+     0.015429670153473777
+    ],
+    [
+     790,
+     0.5158402323722839,
+     -1.789788007736206,
+     0.015435042153977424
+    ],
+    [
+     800,
+     0.5157380700111389,
+     -1.7898411750793457,
+     0.01548671801383524
+    ],
+    [
+     810,
+     0.5157513618469238,
+     -1.789806604385376,
+     0.015445073239958784
+    ],
+    [
+     820,
+     0.5158288478851318,
+     -1.789756178855896,
+     0.015436194414185424
+    ],
+    [
+     830,
+     0.5158126950263977,
+     -1.7897673845291138,
+     0.015438760996657322
+    ],
+    [
+     840,
+     0.5158108472824097,
+     -1.7897616624832153,
+     0.015438467336803098
+    ],
+    [
+     850,
+     0.5158221125602722,
+     -1.7897487878799438,
+     0.015436171950313025
+    ],
+    [
+     860,
+     0.5159176588058472,
+     -1.789698839187622,
+     0.015406606279029532
+    ],
+    [
+     870,
+     0.5159542560577393,
+     -1.7897318601608276,
+     0.015496627498881813
+    ],
+    [
+     880,
+     0.5158765316009521,
+     -1.7897768020629883,
+     0.015490929905083155
+    ],
+    [
+     890,
+     0.5159788727760315,
+     -1.7897260189056396,
+     0.015421501157695274
+    ],
+    [
+     900,
+     0.51595538854599,
+     -1.7897809743881226,
+     0.015443852208245974
+    ],
+    [
+     910,
+     0.5159109234809875,
+     -1.789808750152588,
+     0.015435888661390878
+    ],
+    [
+     920,
+     0.5159211754798889,
+     -1.7898037433624268,
+     0.015443266469091303
+    ],
+    [
+     930,
+     0.5159187912940979,
+     -1.7898062467575073,
+     0.015440866002221911
+    ],
+    [
+     940,
+     0.5159097909927368,
+     -1.7898086309432983,
+     0.01544011477172124
+    ],
+    [
+     950,
+     0.5158243179321289,
+     -1.7898478507995605,
+     0.015424498941498714
+    ],
+    [
+     960,
+     0.5158550143241882,
+     -1.7897963523864746,
+     0.015431242026048108
+    ],
+    [
+     970,
+     0.5175736546516418,
+     -1.789596676826477,
+     0.015104060729401346
+    ],
+    [
+     980,
+     0.5184856653213501,
+     -1.7900679111480713,
+     0.015490242589995418
+    ],
+    [
+     990,
+     0.5176529288291931,
+     -1.7908591032028198,
+     0.015591657001662177
+    ],
+    [
+     1000,
+     0.5163105726242065,
+     -1.7915241718292236,
+     0.015567316556208272
+    ],
+    [
+     1010,
+     0.5144841074943542,
+     -1.7918823957443237,
+     0.015639191818299196
+    ],
+    [
+     1020,
+     0.5125584006309509,
+     -1.7918082475662231,
+     0.015658496105709477
+    ],
+    [
+     1030,
+     0.5114859342575073,
+     -1.7918871641159058,
+     0.015660335219924527
+    ],
+    [
+     1040,
+     0.503898024559021,
+     -1.7934596538543701,
+     0.012720897628021161
+    ],
+    [
+     1050,
+     0.47122517228126526,
+     -1.7957459688186646,
+     0.011479297463470754
+    ],
+    [
+     1060,
+     0.4260317087173462,
+     -1.7989360094070435,
+     0.01570097016011503
+    ],
+    [
+     1070,
+     0.38339534401893616,
+     -1.8001046180725098,
+     0.007583538331005354
+    ],
+    [
+     1080,
+     0.3383808135986328,
+     -1.7995171546936035,
+     0.0015390927742414957
+    ],
+    [
+     1090,
+     0.29807084798812866,
+     -1.7970558404922485,
+     0.004381861905850232
+    ],
+    [
+     1100,
+     0.26608026027679443,
+     -1.7964930534362793,
+     0.002705602611306638
+    ],
+    [
+     1110,
+     0.2407597005367279,
+     -1.7926931381225586,
+     0.007901178070205309
+    ],
+    [
+     1120,
+     0.23015213012695312,
+     -1.7704230546951294,
+     0.025605247149163037
+    ],
+    [
+     1130,
+     0.2263694852590561,
+     -1.7396612167358398,
+     0.03470733413834747
+    ],
+    [
+     1140,
+     0.22032779455184937,
+     -1.6992549896240234,
+     0.038769103127365145
+    ],
+    [
+     1150,
+     0.216120183467865,
+     -1.6557596921920776,
+     0.04151711240505956
+    ],
+    [
+     1160,
+     0.21021975576877594,
+     -1.6108343601226807,
+     0.04314744126334631
+    ],
+    [
+     1170,
+     0.2066444456577301,
+     -1.5644769668579102,
+     0.046405025342314464
+    ],
+    [
+     1180,
+     0.20253974199295044,
+     -1.5179073810577393,
+     0.04612100760528143
+    ],
+    [
+     1190,
+     0.19906117022037506,
+     -1.4711881875991821,
+     0.04919168966206643
+    ],
+    [
+     1200,
+     0.19330397248268127,
+     -1.4254506826400757,
+     0.0460722925037005
+    ],
+    [
+     1210,
+     0.18763847649097443,
+     -1.378885269165039,
+     0.0486854521475908
+    ],
+    [
+     1220,
+     0.1805216372013092,
+     -1.3327547311782837,
+     0.04657433797824542
+    ],
+    [
+     1230,
+     0.17406930029392242,
+     -1.285586953163147,
+     0.049844026039013195
+    ],
+    [
+     1240,
+     0.16754478216171265,
+     -1.2398815155029297,
+     0.049085494464342155
+    ],
+    [
+     1250,
+     0.16163748502731323,
+     -1.1929068565368652,
+     0.05246610198452493
+    ],
+    [
+     1260,
+     0.15559662878513336,
+     -1.146713376045227,
+     0.05005800121558706
+    ],
+    [
+     1270,
+     0.14952638745307922,
+     -1.099647879600525,
+     0.053185033657751964
+    ],
+    [
+     1280,
+     0.14307378232479095,
+     -1.0529224872589111,
+     0.05029372853555158
+    ],
+    [
+     1290,
+     0.13613753020763397,
+     -1.0057374238967896,
+     0.052472594815046805
+    ],
+    [
+     1300,
+     0.1293260008096695,
+     -0.9597018957138062,
+     0.04857847357567265
+    ],
+    [
+     1310,
+     0.12173020839691162,
+     -0.9126624464988708,
+     0.0509825813969535
+    ],
+    [
+     1320,
+     0.11476018279790878,
+     -0.8672311305999756,
+     0.04838793239504352
+    ],
+    [
+     1330,
+     0.10765249282121658,
+     -0.8201316595077515,
+     0.050419386810178726
+    ],
+    [
+     1340,
+     0.10182926803827286,
+     -0.7757472395896912,
+     0.04661374668587004
+    ],
+    [
+     1350,
+     0.09616442024707794,
+     -0.7325287461280823,
+     0.04837287209510801
+    ],
+    [
+     1360,
+     0.0923173576593399,
+     -0.6973421573638916,
+     0.0453584674605265
+    ],
+    [
+     1370,
+     0.08887918293476105,
+     -0.663918673992157,
+     0.04437374647458701
+    ],
+    [
+     1380,
+     0.09703187644481659,
+     -0.6397817730903625,
+     0.0567173375725057
+    ],
+    [
+     1390,
+     0.12964558601379395,
+     -0.6275497674942017,
+     0.0655062942493031
+    ],
+    [
+     1400,
+     0.17923401296138763,
+     -0.61977219581604,
+     0.07824432961824124
+    ],
+    [
+     1410,
+     0.23858878016471863,
+     -0.6183785796165466,
+     0.08656979457591706
+    ],
+    [
+     1420,
+     0.3030608594417572,
+     -0.618084192276001,
+     0.09981974538891687
+    ],
+    [
+     1430,
+     0.3694734573364258,
+     -0.6162831783294678,
+     0.1002164957665941
+    ],
+    [
+     1440,
+     0.43558192253112793,
+     -0.6137195825576782,
+     0.10687850193449963
+    ],
+    [
+     1450,
+     0.5029160976409912,
+     -0.6105379462242126,
+     0.10299087905353359
+    ],
+    [
+     1460,
+     0.5697411298751831,
+     -0.6064339876174927,
+     0.10587242977930689
+    ],
+    [
+     1470,
+     0.637362539768219,
+     -0.6014471054077148,
+     0.1005732426309006
+    ],
+    [
+     1480,
+     0.7052109241485596,
+     -0.5959277749061584,
+     0.10476736063505707
+    ],
+    [
+     1490,
+     0.77371746301651,
+     -0.5906232595443726,
+     0.10055443334820764
+    ],
+    [
+     1500,
+     0.8419109582901001,
+     -0.5848827362060547,
+     0.10510648793762452
+    ],
+    [
+     1510,
+     0.9090027213096619,
+     -0.5784531831741333,
+     0.09976262014777873
+    ],
+    [
+     1520,
+     0.9752941727638245,
+     -0.5710659027099609,
+     0.10395084773237243
+    ],
+    [
+     1530,
+     1.040810465812683,
+     -0.5635105967521667,
+     0.09940182204981524
+    ],
+    [
+     1540,
+     1.106053352355957,
+     -0.5553411245346069,
+     0.10136614071953208
+    ],
+    [
+     1550,
+     1.1718987226486206,
+     -0.5484617352485657,
+     0.09782241151165529
+    ],
+    [
+     1560,
+     1.238980770111084,
+     -0.5422694087028503,
+     0.10198401662438399
+    ],
+    [
+     1570,
+     1.3065013885498047,
+     -0.5364083647727966,
+     0.09815978678335738
+    ],
+    [
+     1580,
+     1.3724548816680908,
+     -0.5292919278144836,
+     0.09985511896294498
+    ],
+    [
+     1590,
+     1.4396113157272339,
+     -0.522417426109314,
+     0.09683689819251397
+    ],
+    [
+     1600,
+     1.5067758560180664,
+     -0.5147749185562134,
+     0.09950396923944438
+    ],
+    [
+     1610,
+     1.574920654296875,
+     -0.5073210597038269,
+     0.09666240267023722
+    ],
+    [
+     1620,
+     1.642602801322937,
+     -0.4992663562297821,
+     0.10054329086914295
+    ],
+    [
+     1630,
+     1.7112603187561035,
+     -0.49270322918891907,
+     0.09787573449908737
+    ],
+    [
+     1640,
+     1.7793446779251099,
+     -0.4853321611881256,
+     0.1017696811936507
+    ],
+    [
+     1650,
+     1.8473597764968872,
+     -0.47793248295783997,
+     0.09837811429881835
+    ],
+    [
+     1660,
+     1.9112825393676758,
+     -0.4703821539878845,
+     0.10164112086047879
+    ],
+    [
+     1670,
+     1.9699209928512573,
+     -0.46367114782333374,
+     0.0972108796795317
+    ],
+    [
+     1680,
+     2.017045259475708,
+     -0.4563508927822113,
+     0.09903854688771487
+    ],
+    [
+     1690,
+     2.0581250190734863,
+     -0.450834184885025,
+     0.09638760675269296
+    ],
+    [
+     1700,
+     2.0892813205718994,
+     -0.4450483024120331,
+     0.10100882932156953
+    ],
+    [
+     1710,
+     2.1107475757598877,
+     -0.44009166955947876,
+     0.10799430780169698
+    ],
+    [
+     1720,
+     2.1181130409240723,
+     -0.43560028076171875,
+     0.17864471171467486
+    ],
+    [
+     1730,
+     2.12148380279541,
+     -0.4316982328891754,
+     0.29122967532717225
+    ],
+    [
+     1740,
+     2.120426893234253,
+     -0.43170177936553955,
+     0.4422131565655892
+    ],
+    [
+     1750,
+     2.120037078857422,
+     -0.4347758889198303,
+     0.5977544060886164
+    ],
+    [
+     1760,
+     2.1191675662994385,
+     -0.4375526010990143,
+     0.7659309788744751
+    ],
+    [
+     1770,
+     2.1179444789886475,
+     -0.4389660358428955,
+     0.9303926963590695
+    ],
+    [
+     1780,
+     2.1180543899536133,
+     -0.44276484847068787,
+     1.09906467689819
+    ],
+    [
+     1790,
+     2.117687940597534,
+     -0.44470661878585815,
+     1.2675599419325165
+    ],
+    [
+     1800,
+     2.1197004318237305,
+     -0.4482342600822449,
+     1.4342944350168543
+    ],
+    [
+     1810,
+     2.1200520992279053,
+     -0.4472467303276062,
+     1.5866708527574727
+    ],
+    [
+     1820,
+     2.122145652770996,
+     -0.42136621475219727,
+     1.6863953211190326
+    ],
+    [
+     1830,
+     2.1191294193267822,
+     -0.37496376037597656,
+     1.7243109042670823
+    ],
+    [
+     1840,
+     2.1142492294311523,
+     -0.317747563123703,
+     1.713123393005221
+    ],
+    [
+     1850,
+     2.1129987239837646,
+     -0.2527575194835663,
+     1.6618272778880498
+    ],
+    [
+     1860,
+     2.113699197769165,
+     -0.18939264118671417,
+     1.6053290151083037
+    ],
+    [
+     1870,
+     2.1194300651550293,
+     -0.1236778199672699,
+     1.5584298232662461
+    ],
+    [
+     1880,
+     2.1255767345428467,
+     -0.05986577644944191,
+     1.5297415780464592
+    ],
+    [
+     1890,
+     2.1331160068511963,
+     0.006332105025649071,
+     1.5143070491262591
+    ],
+    [
+     1900,
+     2.138916015625,
+     0.07077869772911072,
+     1.5087794874393416
+    ],
+    [
+     1910,
+     2.1448535919189453,
+     0.13648536801338196,
+     1.505574923597663
+    ],
+    [
+     1920,
+     2.148940324783325,
+     0.2028476744890213,
+     1.5083761363709989
+    ],
+    [
+     1930,
+     2.153106689453125,
+     0.2707250118255615,
+     1.5095548172988065
+    ],
+    [
+     1940,
+     2.1559393405914307,
+     0.3386402428150177,
+     1.5130081400794744
+    ],
+    [
+     1950,
+     2.159425973892212,
+     0.40740084648132324,
+     1.5133235863108379
+    ],
+    [
+     1960,
+     2.162060499191284,
+     0.4755552411079407,
+     1.5162993056056715
+    ],
+    [
+     1970,
+     2.165398597717285,
+     0.544283926486969,
+     1.515475272018298
+    ],
+    [
+     1980,
+     2.1679043769836426,
+     0.6124167442321777,
+     1.5174001739127692
+    ],
+    [
+     1990,
+     2.1711764335632324,
+     0.6811121702194214,
+     1.5161016764165607
+    ],
+    [
+     2000,
+     2.173668384552002,
+     0.7490254044532776,
+     1.5166791728984517
+    ],
+    [
+     2010,
+     2.1771395206451416,
+     0.8172525763511658,
+     1.5155368239743274
+    ],
+    [
+     2020,
+     2.1804003715515137,
+     0.8850017189979553,
+     1.5181566390350845
+    ],
+    [
+     2030,
+     2.1837992668151855,
+     0.9520303010940552,
+     1.5165935242677266
+    ],
+    [
+     2040,
+     2.1854641437530518,
+     1.012471318244934,
+     1.5166710113430473
+    ],
+    [
+     2050,
+     2.187464475631714,
+     1.0654230117797852,
+     1.5167242851835365
+    ],
+    [
+     2060,
+     2.188345432281494,
+     1.1093225479125977,
+     1.5172873142421472
+    ],
+    [
+     2070,
+     2.1873650550842285,
+     1.140743613243103,
+     1.5187398441178335
+    ],
+    [
+     2080,
+     2.1912310123443604,
+     1.1671475172042847,
+     1.5147602551656203
+    ],
+    [
+     2090,
+     2.189934730529785,
+     1.185033917427063,
+     1.5164347788263957
+    ],
+    [
+     2100,
+     2.187582015991211,
+     1.1892528533935547,
+     1.5129757987389145
+    ],
+    [
+     2110,
+     2.1861212253570557,
+     1.1869045495986938,
+     1.5066568974795174
+    ],
+    [
+     2120,
+     2.185027599334717,
+     1.1807242631912231,
+     1.4977426189503817
+    ],
+    [
+     2130,
+     2.1841647624969482,
+     1.1740041971206665,
+     1.4929651048251416
+    ],
+    [
+     2140,
+     2.183541774749756,
+     1.1676452159881592,
+     1.4897856899782196
+    ],
+    [
+     2150,
+     2.18326473236084,
+     1.1621454954147339,
+     1.4875465861551478
+    ],
+    [
+     2160,
+     2.1837921142578125,
+     1.1572355031967163,
+     1.4873352676406242
+    ],
+    [
+     2170,
+     2.1851084232330322,
+     1.1563359498977661,
+     1.4870070076305306
+    ],
+    [
+     2180,
+     2.186366081237793,
+     1.1587382555007935,
+     1.4881368246914342
+    ],
+    [
+     2190,
+     2.1865949630737305,
+     1.1606851816177368,
+     1.4888272090433416
+    ],
+    [
+     2200,
+     2.1871633529663086,
+     1.1596384048461914,
+     1.4849347543448397
+    ],
+    [
+     2210,
+     2.1874589920043945,
+     1.1608966588974,
+     1.4838666349927516
+    ],
+    [
+     2220,
+     2.18684983253479,
+     1.1613104343414307,
+     1.485341772278693
+    ],
+    [
+     2230,
+     2.1868364810943604,
+     1.160395860671997,
+     1.4843422805614923
+    ],
+    [
+     2240,
+     2.187147855758667,
+     1.1596778631210327,
+     1.485105153423418
+    ],
+    [
+     2250,
+     2.187034845352173,
+     1.158648133277893,
+     1.4848644466086964
+    ],
+    [
+     2260,
+     2.1872665882110596,
+     1.1589183807373047,
+     1.4841452403475917
+    ],
+    [
+     2270,
+     2.187457799911499,
+     1.158960223197937,
+     1.4852105480954607
+    ],
+    [
+     2280,
+     2.1870157718658447,
+     1.156335473060608,
+     1.482943963687132
+    ],
+    [
+     2290,
+     2.1873157024383545,
+     1.1510043144226074,
+     1.4820374006588444
+    ],
+    [
+     2300,
+     2.186660051345825,
+     1.1481596231460571,
+     1.4825551948254356
+    ],
+    [
+     2310,
+     2.1857643127441406,
+     1.146360158920288,
+     1.4830312578417553
+    ],
+    [
+     2320,
+     2.1862940788269043,
+     1.144874095916748,
+     1.4847209332669762
+    ],
+    [
+     2330,
+     2.1881182193756104,
+     1.1457422971725464,
+     1.490153811092038
+    ],
+    [
+     2340,
+     2.1874125003814697,
+     1.145944356918335,
+     1.4919506084418401
+    ],
+    [
+     2350,
+     2.1880247592926025,
+     1.147247314453125,
+     1.496788583546984
+    ],
+    [
+     2360,
+     2.1885812282562256,
+     1.1458755731582642,
+     1.4991540496016
+    ],
+    [
+     2370,
+     2.1884124279022217,
+     1.1473513841629028,
+     1.5018319851401005
+    ],
+    [
+     2380,
+     2.1885597705841064,
+     1.1481508016586304,
+     1.5052093232879074
+    ],
+    [
+     2390,
+     2.1885781288146973,
+     1.147411584854126,
+     1.5061636110927852
+    ],
+    [
+     2400,
+     2.1890182495117188,
+     1.1495583057403564,
+     1.5067070152515925
+    ],
+    [
+     2410,
+     2.189171552658081,
+     1.1505869626998901,
+     1.5006375872811837
+    ],
+    [
+     2420,
+     2.1887972354888916,
+     1.1510231494903564,
+     1.4993111507229326
+    ],
+    [
+     2430,
+     2.1884753704071045,
+     1.1516832113265991,
+     1.4983201470455068
+    ],
+    [
+     2440,
+     2.188147783279419,
+     1.1516021490097046,
+     1.4973762279071867
+    ],
+    [
+     2450,
+     2.187908411026001,
+     1.1514428853988647,
+     1.4969072381360047
+    ],
+    [
+     2460,
+     2.187818765640259,
+     1.1515727043151855,
+     1.496995136030489
+    ]
+   ],
+   "base_path_length_m": 8.828860785963617,
+   "stage_events": [
+    {
+     "tick": 60,
+     "event": "stage",
+     "stage": "nav_A",
+     "goal": [
+      0.5939999999999999,
+      -1.8,
+      0.0
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 561,
+     "event": "enter_A",
+     "path_m": 3.2335241513274893
+    },
+    {
+     "tick": 623,
+     "event": "stage",
+     "stage": "open",
+     "hand": "open"
+    },
+    {
+     "tick": 639,
+     "event": "stage",
+     "stage": "pre_pinch",
+     "mode": 1,
+     "goal": [
+      1.14,
+      -1.8023,
+      0.7307,
+      0.4999,
+      -0.005,
+      0.866,
+      0.0086
+     ]
+    },
+    {
+     "tick": 725,
+     "event": "stage_end",
+     "stage": "pre_pinch",
+     "outcome": "finished",
+     "pos_err_m": 0.000834478543401825,
+     "l6": [
+      1.1407,
+      -1.8019,
+      0.7308,
+      0.5077,
+      -0.0067,
+      0.8614,
+      0.0117
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.042,
+       2.21
+      ],
+      "piper_joint2": [
+       2.369,
+       0.771
+      ],
+      "piper_joint3": [
+       -2.173,
+       0.794
+      ],
+      "piper_joint4": [
+       0.124,
+       1.621
+      ],
+      "piper_joint5": [
+       0.392,
+       0.828
+      ],
+      "piper_joint6": [
+       -0.132,
+       1.962
+      ],
+      "piper_joint7": [
+       0.035,
+       0.0
+      ],
+      "piper_joint8": [
+       -0.035,
+       0.0
+      ]
+     },
+     "hammer": [
+      1.2,
+      -1.8,
+      0.601,
+      1.0,
+      0.0,
+      0.0,
+      -0.0
+     ],
+     "hammer_in_tcp": [
+      0.0849,
+      -0.0012,
+      -0.0008
+     ],
+     "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": 3.9307,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 725,
+     "event": "stage",
+     "stage": "pinch_align",
+     "mode": 4,
+     "goal": [
+      1.14,
+      -1.8016,
+      0.7307,
+      0.5,
+      -0.0034,
+      0.866,
+      0.0058
+     ]
+    },
+    {
+     "tick": 786,
+     "event": "stage_end",
+     "stage": "pinch_align",
+     "outcome": "finished",
+     "pos_err_m": 0.00010129448429573875,
+     "l6": [
+      1.14,
+      -1.8016,
+      0.7308,
+      0.5006,
+      -0.0036,
+      0.8657,
+      0.0063
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.042,
+       2.21
+      ],
+      "piper_joint2": [
+       2.344,
+       0.796
+      ],
+      "piper_joint3": [
+       -2.132,
+       0.835
+      ],
+      "piper_joint4": [
+       0.093,
+       1.652
+      ],
+      "piper_joint5": [
+       0.391,
+       0.829
+      ],
+      "piper_joint6": [
+       -0.103,
+       1.991
+      ],
+      "piper_joint7": [
+       0.035,
+       0.0
+      ],
+      "piper_joint8": [
+       -0.035,
+       0.0
+      ]
+     },
+     "hammer": [
+      1.2,
+      -1.8,
+      0.601,
+      1.0,
+      0.0,
+      0.0,
+      -0.0
+     ],
+     "hammer_in_tcp": [
+      0.0826,
+      -0.0001,
+      0.0012
+     ],
+     "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": 3.9307,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 792,
+     "event": "stage",
+     "stage": "pinch",
+     "mode": 4,
+     "goal": [
+      1.14,
+      -1.8015,
+      0.6707,
+      0.5,
+      -0.0033,
+      0.866,
+      0.0058
+     ]
+    },
+    {
+     "tick": 853,
+     "event": "stage_end",
+     "stage": "pinch",
+     "outcome": "finished",
+     "pos_err_m": 0.004502071957457251,
+     "l6": [
+      1.14,
+      -1.8015,
+      0.6753,
+      0.5,
+      -0.0034,
+      0.866,
+      0.0059
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.042,
+       2.21
+      ],
+      "piper_joint2": [
+       2.382,
+       0.758
+      ],
+      "piper_joint3": [
+       -1.981,
+       0.986
+      ],
+      "piper_joint4": [
+       0.171,
+       1.574
+      ],
+      "piper_joint5": [
+       0.205,
+       1.015
+      ],
+      "piper_joint6": [
+       -0.185,
+       1.91
+      ],
+      "piper_joint7": [
+       0.035,
+       0.0
+      ],
+      "piper_joint8": [
+       -0.035,
+       0.0
+      ]
+     },
+     "hammer": [
+      1.2,
+      -1.8,
+      0.601,
+      1.0,
+      0.0,
+      0.0,
+      -0.0
+     ],
+     "hammer_in_tcp": [
+      0.0343,
+      0.0003,
+      -0.0264
+     ],
+     "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": 3.9307,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 859,
+     "event": "stage",
+     "stage": "close",
+     "hand": "close"
+    },
+    {
+     "tick": 880,
+     "event": "grasp_close",
+     "hammer": [
+      1.1997931003570557,
+      -1.799936056137085,
+      0.6010299921035767,
+      0.9999999403953552,
+      -0.00017697736620903015,
+      -0.00016036890156101435,
+      -0.00012430160131771117
+     ]
+    },
+    {
+     "tick": 880,
+     "event": "grip_opening",
+     "opening_m": 0.01572965271770954
+    },
+    {
+     "tick": 880,
+     "event": "stage",
+     "stage": "lift",
+     "mode": 4,
+     "goal": [
+      1.1398,
+      -1.8016,
+      0.7109,
+      0.5,
+      -0.0035,
+      0.866,
+      0.0058
+     ]
+    },
+    {
+     "tick": 893,
+     "event": "object_first_moved",
+     "path_m": 3.579172081889656
+    },
+    {
+     "tick": 931,
+     "event": "lifted",
+     "z_gain": 0.030280768871307373
+    },
+    {
+     "tick": 941,
+     "event": "stage_end",
+     "stage": "lift",
+     "outcome": "finished",
+     "pos_err_m": 0.0030694617915095574,
+     "l6": [
+      1.1399,
+      -1.8016,
+      0.7079,
+      0.5,
+      -0.0038,
+      0.866,
+      0.0057
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.042,
+       2.21
+      ],
+      "piper_joint2": [
+       2.352,
+       0.788
+      ],
+      "piper_joint3": [
+       -2.058,
+       0.909
+      ],
+      "piper_joint4": [
+       0.113,
+       1.632
+      ],
+      "piper_joint5": [
+       0.31,
+       0.91
+      ],
+      "piper_joint6": [
+       -0.126,
+       1.969
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.008,
+       0.008
+      ]
+     },
+     "hammer": [
+      1.1998,
+      -1.8,
+      0.6379,
+      1.0,
+      -0.0003,
+      -0.0001,
+      0.0003
+     ],
+     "hammer_in_tcp": [
+      0.0306,
+      0.0004,
+      -0.0286
+     ],
+     "lowest_face": [
+      1.3138,
+      -1.765,
+      0.638
+     ],
+     "face_tilt_deg": 90.0,
+     "face_over_block_top_m": 0.068,
+     "face_to_block_xy_m": 3.8626,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 952,
+     "event": "lift_check",
+     "gain": 0.039903879165649414
+    },
+    {
+     "tick": 952,
+     "event": "in_hand",
+     "hammer_in_tcp": [
+      0.030586309453906724,
+      0.00043981251442026803,
+      -0.028612743270692076,
+      0.4998653683449144,
+      0.003325604401326363,
+      -0.8660772043479015,
+      -0.005816355705426319
+     ]
+    },
+    {
+     "tick": 952,
+     "event": "stage",
+     "stage": "carry",
+     "mode": 1,
+     "goal": [
+      0.9157,
+      -1.7837,
+      0.8877,
+      0.5001,
+      -0.0038,
+      0.8659,
+      0.0057
+     ]
+    },
+    {
+     "tick": 1026,
+     "event": "stage_end",
+     "stage": "carry",
+     "outcome": "finished",
+     "pos_err_m": 0.0016117928889968522,
+     "l6": [
+      0.917,
+      -1.7836,
+      0.8887,
+      0.5072,
+      -0.0064,
+      0.8618,
+      0.0074
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       0.019,
+       2.149
+      ],
+      "piper_joint2": [
+       1.49,
+       1.49
+      ],
+      "piper_joint3": [
+       -1.476,
+       1.476
+      ],
+      "piper_joint4": [
+       -0.025,
+       1.72
+      ],
+      "piper_joint5": [
+       0.58,
+       0.64
+      ],
+      "piper_joint6": [
+       0.029,
+       2.066
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.008,
+       0.008
+      ]
+     },
+     "hammer": [
+      0.9781,
+      -1.7816,
+      0.8198,
+      1.0,
+      -0.0001,
+      -0.0086,
+      0.0035
+     ],
+     "hammer_in_tcp": [
+      0.0306,
+      0.0004,
+      -0.0286
+     ],
+     "lowest_face": [
+      1.0918,
+      -1.7458,
+      0.8217
+     ],
+     "face_tilt_deg": 90.0,
+     "face_over_block_top_m": 0.2517,
+     "face_to_block_xy_m": 3.9014,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 1026,
+     "event": "stage",
+     "stage": "backoff_A",
+     "goal": [
+      0.14399999999999985,
+      -1.8,
+      0.0
+     ],
+     "heading": "goal"
+    },
+    {
+     "tick": 1101,
+     "event": "stage",
+     "stage": "via_1",
+     "goal": [
+      0.09999999999999987,
+      -0.55,
+      0.06182586609865193
+     ],
+     "heading": "goal"
+    },
+    {
+     "tick": 1169,
+     "event": "leave_A",
+     "path_m": 4.090137166420778
+    },
+    {
+     "tick": 1369,
+     "event": "stage",
+     "stage": "approach_B",
+     "goal": [
+      2.2,
+      -0.4199999999999997,
+      1.5707963267948966
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 1801,
+     "event": "stage",
+     "stage": "nav_B",
+     "goal": [
+      2.2,
+      1.2800000000000002,
+      1.5707963267948966
+     ],
+     "heading": "path"
+    },
+    {
+     "tick": 2016,
+     "event": "enter_B",
+     "path_m": 8.407980793323668
+    },
+    {
+     "tick": 2078,
+     "event": "strike_orientation",
+     "candidate": 0,
+     "face_sign": -1,
+     "approach": [
+      0.0,
+      1.0,
+      0.013
+     ],
+     "closing": [
+      0.0,
+      -0.013,
+      1.0
+     ]
+    },
+    {
+     "tick": 2078,
+     "event": "stage",
+     "stage": "pre_strike_turn",
+     "mode": 4,
+     "goal": [
+      2.2096,
+      1.5773,
+      0.9238,
+      0.0001,
+      -0.0001,
+      -0.7024,
+      -0.7117
+     ]
+    },
+    {
+     "tick": 2139,
+     "event": "stage_end",
+     "stage": "pre_strike_turn",
+     "outcome": "finished",
+     "pos_err_m": 0.004308563404672806,
+     "l6": [
+      2.2097,
+      1.5732,
+      0.9252,
+      0.0282,
+      -0.0481,
+      0.7103,
+      0.7017
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       -0.041,
+       2.209
+      ],
+      "piper_joint2": [
+       1.463,
+       1.463
+      ],
+      "piper_joint3": [
+       -1.42,
+       1.42
+      ],
+      "piper_joint4": [
+       1.17,
+       0.575
+      ],
+      "piper_joint5": [
+       0.162,
+       1.058
+      ],
+      "piper_joint6": [
+       0.308,
+       1.787
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.007,
+       0.007
+      ]
+     },
+     "hammer": [
+      2.1769,
+      1.6592,
+      0.9209,
+      0.6335,
+      0.5796,
+      0.3326,
+      0.39
+     ],
+     "hammer_in_tcp": [
+      0.0306,
+      0.0002,
+      -0.0286
+     ],
+     "lowest_face": [
+      2.2348,
+      1.7586,
+      0.8896
+     ],
+     "face_tilt_deg": 6.4,
+     "face_over_block_top_m": 0.3196,
+     "face_to_block_xy_m": 0.2364,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 2145,
+     "event": "strike_orientation",
+     "candidate": 0,
+     "face_sign": -1,
+     "approach": [
+      -0.0,
+      1.0,
+      0.013
+     ],
+     "closing": [
+      0.0,
+      -0.013,
+      1.0
+     ]
+    },
+    {
+     "tick": 2145,
+     "event": "stage",
+     "stage": "pre_strike",
+     "mode": 4,
+     "goal": [
+      2.1792,
+      1.8076,
+      0.7336,
+      0.0,
+      -0.0,
+      -0.7024,
+      -0.7118
+     ]
+    },
+    {
+     "tick": 2210,
+     "event": "stage_end",
+     "stage": "pre_strike",
+     "outcome": "finished",
+     "pos_err_m": 0.010413117014865577,
+     "l6": [
+      2.1859,
+      1.8024,
+      0.7398,
+      0.0238,
+      0.0111,
+      0.7074,
+      0.7063
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       0.108,
+       2.06
+      ],
+      "piper_joint2": [
+       2.42,
+       0.72
+      ],
+      "piper_joint3": [
+       -2.111,
+       0.856
+      ],
+      "piper_joint4": [
+       0.322,
+       1.423
+      ],
+      "piper_joint5": [
+       -0.225,
+       0.995
+      ],
+      "piper_joint6": [
+       1.244,
+       0.851
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.007,
+       0.007
+      ]
+     },
+     "hammer": [
+      2.1613,
+      1.8897,
+      0.7378,
+      0.6134,
+      0.6161,
+      0.3409,
+      0.3577
+     ],
+     "hammer_in_tcp": [
+      0.0288,
+      -0.0014,
+      -0.0296
+     ],
+     "lowest_face": [
+      2.2203,
+      1.9881,
+      0.7054
+     ],
+     "face_tilt_deg": 1.4,
+     "face_over_block_top_m": 0.1354,
+     "face_to_block_xy_m": 0.0155,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 2210,
+     "event": "stage",
+     "stage": "strike",
+     "mode": 4,
+     "goal": [
+      2.1811,
+      1.8056,
+      0.5871,
+      0.0,
+      -0.0,
+      -0.7024,
+      -0.7118
+     ]
+    },
+    {
+     "tick": 2269,
+     "event": "face_on_plane",
+     "gap": 0.002097483600622674,
+     "lateral": 0.001094221441802035,
+     "tilt": 1.810500941549984,
+     "speed_mps": 0.09915170609289814
+    },
+    {
+     "tick": 2270,
+     "event": "strike",
+     "data_tick": 2270,
+     "evidence": "sensor",
+     "force_n": 5.021574020380575,
+     "reaction_slip_m": 0.00017119315123471248,
+     "stall_ticks": 0,
+     "goal_deficit_m": 0.0,
+     "impact_speed_mps": 0.09915170609289814,
+     "lateral_m": 0.0011064921552997264,
+     "face_gap_m": 0.000484131634032714,
+     "face_tilt_deg": 1.9338514962514248,
+     "face_sign": -1
+    },
+    {
+     "tick": 2384,
+     "event": "stage_end",
+     "stage": "strike",
+     "outcome": "finished",
+     "pos_err_m": 0.013142772825199947,
+     "l6": [
+      2.1802,
+      1.8071,
+      0.6002,
+      -0.0025,
+      0.0025,
+      0.6895,
+      0.7242
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       0.089,
+       2.079
+      ],
+      "piper_joint2": [
+       2.755,
+       0.385
+      ],
+      "piper_joint3": [
+       -2.142,
+       0.825
+      ],
+      "piper_joint4": [
+       0.047,
+       1.698
+      ],
+      "piper_joint5": [
+       -0.55,
+       0.67
+      ],
+      "piper_joint6": [
+       1.54,
+       0.554
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.007,
+       0.007
+      ]
+     },
+     "hammer": [
+      2.1516,
+      1.8928,
+      0.6033,
+      0.5859,
+      0.624,
+      0.3548,
+      0.376
+     ],
+     "hammer_in_tcp": [
+      0.0286,
+      -0.0013,
+      -0.0297
+     ],
+     "lowest_face": [
+      2.2046,
+      1.9957,
+      0.5744
+     ],
+     "face_tilt_deg": 3.5,
+     "face_over_block_top_m": 0.0044,
+     "face_to_block_xy_m": 0.0027,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 2390,
+     "event": "stage",
+     "stage": "lift_after",
+     "mode": 4,
+     "goal": [
+      2.1802,
+      1.8073,
+      0.6803,
+      -0.0023,
+      0.0027,
+      0.6905,
+      0.7233
+     ]
+    },
+    {
+     "tick": 2429,
+     "event": "head_left",
+     "gap": 0.050005765465991114
+    },
+    {
+     "tick": 2451,
+     "event": "stage_end",
+     "stage": "lift_after",
+     "outcome": "finished",
+     "pos_err_m": 0.006822864480919315,
+     "l6": [
+      2.18,
+      1.8076,
+      0.6735,
+      -0.0018,
+      0.0022,
+      0.6913,
+      0.7225
+     ],
+     "arm_q_margin": {
+      "piper_joint1": [
+       0.098,
+       2.07
+      ],
+      "piper_joint2": [
+       2.547,
+       0.593
+      ],
+      "piper_joint3": [
+       -2.089,
+       0.878
+      ],
+      "piper_joint4": [
+       0.063,
+       1.682
+      ],
+      "piper_joint5": [
+       -0.419,
+       0.801
+      ],
+      "piper_joint6": [
+       1.522,
+       0.572
+      ],
+      "piper_joint7": [
+       0.008,
+       0.008
+      ],
+      "piper_joint8": [
+       -0.007,
+       0.007
+      ]
+     },
+     "hammer": [
+      2.1514,
+      1.8934,
+      0.6761,
+      0.5878,
+      0.6225,
+      0.3551,
+      0.3754
+     ],
+     "hammer_in_tcp": [
+      0.0286,
+      -0.0013,
+      -0.0297
+     ],
+     "lowest_face": [
+      2.2045,
+      1.9961,
+      0.6469
+     ],
+     "face_tilt_deg": 3.3,
+     "face_over_block_top_m": 0.0769,
+     "face_to_block_xy_m": 0.0031,
+     "hammer_force_n": 0.0,
+     "block_net_force_n": [
+      0.0,
+      0.0,
+      0.0
+     ]
+    },
+    {
+     "tick": 2462,
+     "event": "command_complete"
+    }
+   ],
+   "transport_state": "carried",
+   "transport_history": [
+    [
+     1,
+     "at_A"
+    ],
+    [
+     931,
+     "carried"
+    ],
+    [
+     2258,
+     "at_B"
+    ],
+    [
+     2419,
+     "carried"
+    ]
+   ],
+   "station_transition_order": [
+    "S",
+    "A",
+    "B"
+   ],
+   "interstation_path_lengths": {
+    "A->B": 4.31784362690289
+   },
+   "interstation_net_m": 3.1279158889151226,
+   "distance_to_first_interaction": 3.579172081889656,
+   "final_approach_pose": [
+    2.187818765640259,
+    1.1515727043151855,
+    1.496995136030489
+   ],
+   "regrasp_events": 0,
+   "violations": [],
+   "mobile_checks": {
+    "stood_in_A": true,
+    "stood_in_B_after_A": true,
+    "object_lifted_at_A": true,
+    "interstation_path_long_enough": true,
+    "carried_over_the_transit": true,
+    "no_violation": true
+   },
+   "mobile_success": true,
+   "task_id": "N010",
+   "task_version": "EXT60-MobileAvatar-v3",
+   "agent_id": "a02",
+   "family_id": "C4",
+   "primary_category": "hammer_block_contact",
+   "level": "easy",
+   "embodiment": "go2_arm",
+   "scene_seed": 7051,
+   "execution_mode": "expert_collect",
+   "planner_seeds": "lean",
+   "review_cameras": [],
+   "policy_obs_signature": [
+    "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+    "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+    "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"
+   ],
+   "station_layout": {
+    "start": [
+     -3.2,
+     -2.0,
+     0.0
+    ],
+    "stands": {
+     "A": [
+      0.5939999999999999,
+      -1.8,
+      0.0
+     ],
+     "B": [
+      2.2,
+      1.2800000000000002,
+      1.5707963267948966
+     ]
+    },
+    "tables": {
+     "A": {
+      "aabb": [
+       0.8999999999999999,
+       -2.25,
+       1.5,
+       -1.35
+      ],
+      "top_z": 0.53
+     },
+     "B": {
+      "aabb": [
+       1.7500000000000002,
+       1.7,
+       2.6500000000000004,
+       2.3
+      ],
+      "top_z": 0.53
+     }
+    },
+    "room": [
+     -4.4,
+     4.4,
+     -3.25,
+     4.75
+    ]
+   },
+   "manipulation_success": true,
+   "judge": {
+    "ok": true,
+    "reason": "",
+    "numbers": {
+     "force_n": 0.0,
+     "peak_force_n": 5.021574020380575,
+     "impulse_ns": 0.03040846701991369,
+     "reaction_slip_m": 0.0,
+     "face_lateral_m": 0.002148268926855172,
+     "face_gap_m": 0.08426269655223029,
+     "face_tilt_deg": 3.4261672525047295,
+     "robot_min_gap_m": 0.04795901452158195,
+     "contact_episodes": 1
+    }
+   },
+   "full_success": true,
+   "failure_reason": null,
+   "fail_class": null,
+   "material_loss_during_transport": 0.0,
+   "grasp_mode": "rigid_friction",
+   "ticks": 2469,
+   "control_steps": 2339,
+   "hammer_final_pose": [
+    2.151712656021118,
+    1.8923876285552979,
+    0.683271586894989,
+    0.5866857171058655,
+    0.6235293745994568,
+    0.35486987233161926,
+    0.3756040632724762
+   ],
+   "block_final_pose": [
+    2.2057018280029297,
+    1.9932348728179932,
+    0.5300001502037048,
+    1.0,
+    -8.680897281010402e-07,
+    -2.2999314808203053e-07,
+    0.00021040232968516648
+   ],
+   "strike": {
+    "tick": 2270,
+    "evidence": "sensor",
+    "force_n": 5.021574020380575,
+    "reaction_slip_m": 0.00017119315123471248,
+    "stall_ticks": 0,
+    "goal_deficit_m": 0.0,
+    "impact_speed_mps": 0.09915170609289814,
+    "lateral_m": 0.0011064921552997264,
+    "face_gap_m": 0.000484131634032714,
+    "face_tilt_deg": 1.9338514962514248,
+    "face_sign": -1
+   },
+   "block_reaction": {
+    "observed": true,
+    "ref_tick": 2258,
+    "ticks": 170,
+    "max_displacement_m": 2.7068909840821637e-05,
+    "min_dz_m": -1.1920928955078125e-07,
+    "max_speed_mps": 0.001348857193770828,
+    "moved_1mm": false
+   },
+   "head_left_tick": 2429,
+   "contact_evidence": "sensor",
+   "force_data": "reliable",
+   "peak_force_n": 5.021574020380575,
+   "impulse_ns": 0.03040846701991369,
+   "contact_episodes": 1,
+   "max_reaction_slip_m": 0.0003861545049747316,
+   "max_stall_ticks_on_plane": 10,
+   "max_goal_deficit_on_plane_m": 0.014532623199684753,
+   "impact_speed_mps": 0.09915170609289814,
+   "face_on_plane_first_tick": 2269,
+   "robot_min_gap_m": 0.04795901452158195,
+   "contact_view": null,
+   "contact_sensor_error": null,
+   "force_source": "rigid contact view, block filtered on the hammer (last physics sub-step per control tick); alive only if it reads the block's weight"
+  }
+ ],
+ "collect": {
+  "task": "N010",
+  "robot": "go2_arm",
+  "visual_dr": false,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N010",
+   "MMB_CLEAN_VIEW": "1",
+   "MMB_REAL_ROBOT_LOOK": "1",
+   "MMB_VISUAL_DR": "0"
+  },
+  "cameras": {
+   "head": {
+    "link": "Robot_0/Bodies/go2_base",
+    "pos": [
+     0.332051,
+     0.038027,
+     0.093559
+    ],
+    "ori": [
+     169.9473,
+     -88.6452,
+     81.5985
+    ],
+    "focal_length": 1.8231182098388672,
+    "horizontal_aperture": 1.9199999570846558,
+    "vertical_aperture": 1.4407838582992554
+   },
+   "wrist": {
+    "link": "Robot_0/Bodies/piper_link6",
+    "pos": [
+     -0.074987,
+     0.005289,
+     0.045821
+    ],
+    "ori": [
+     179.3135,
+     -20.212,
+     88.9402
+    ],
+    "focal_length": 1.8517500162124634,
+    "horizontal_aperture": 1.9199999570846558,
+    "vertical_aperture": 1.4393036365509033
+   }
+  },
+  "resolution": [
+   640,
+   480
+  ],
+  "camera_hz": 25,
+  "record": {
+   "formats": [
+    "lerobot_v21",
+    "sim_info"
+   ],
+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ }
+}

N010/go2_arm/dr_off/seed_7051/reports.jsonl

@@ -0,0 +1 @@
+{"spawn_pose": [-3.0442676544189453, -1.8979076147079468, 0.18622643533024397], "base_path": [[1, -3.0442676544189453, -1.8979076147079468, 0.18622643533024397], [10, -3.0476737022399902, -1.89958655834198, 0.19041038265159235], [20, -3.0484602451324463, -1.8998982906341553, 0.18944265228588955], [30, -3.049647808074951, -1.900312900543213, 0.1869067630007907], [40, -3.0507354736328125, -1.9006870985031128, 0.1861652429170931], [50, -3.0516133308410645, -1.9009901285171509, 0.18609312502862854], [60, -3.052306890487671, -1.9011905193328857, 0.18578399791068284], [70, -3.045665979385376, -1.9010063409805298, 0.18356877411864586], [80, -3.012457847595215, -1.8971678018569946, 0.16459423326845496], [90, -2.9637608528137207, -1.8925495147705078, 0.12882421290848708], [100, -2.9078757762908936, -1.890073537826538, 0.08845854256980959], [110, -2.84771466255188, -1.8883262872695923, 0.053739982149018456], [120, -2.783754587173462, -1.888907790184021, 0.03018272345054056], [130, -2.719332456588745, -1.8886401653289795, 0.021017654805373143], [140, -2.6527132987976074, -1.8891469240188599, 0.015813193711860043], [150, -2.5856215953826904, -1.887596607208252, 0.018885777284880424], [160, -2.517637014389038, -1.8862253427505493, 0.016047467292710706], [170, -2.4514384269714355, -1.8833580017089844, 0.01963986971177741], [180, -2.3840372562408447, -1.8818126916885376, 0.018567701740567332], [190, -2.3177568912506104, -1.8792840242385864, 0.023805697819065715], [200, -2.2507238388061523, -1.8769397735595703, 0.01985636980044082], [210, -2.1838784217834473, -1.8738231658935547, 0.02462679909589249], [220, -2.1160595417022705, -1.8721650838851929, 0.021593695878151957], [230, -2.0489461421966553, -1.8693058490753174, 0.02567470133509358], [240, -1.9810796976089478, -1.867745041847229, 0.022035537584550076], [250, -1.91399347782135, -1.8649110794067383, 0.025937521412894675], [260, -1.8460923433303833, -1.863358974456787, 0.021985123735950594], [270, -1.7790032625198364, -1.860567331314087, 0.026422411345034723], [280, -1.7112301588058472, -1.8590728044509888, 0.022335043682731148], [290, -1.6457796096801758, -1.8559482097625732, 0.023535441244805323], [300, -1.5786164999008179, -1.8540444374084473, 0.01953047482047155], [310, -1.5128045082092285, -1.851024866104126, 0.02394078274773436], [320, -1.445225477218628, -1.8496769666671753, 0.020070770381558387], [330, -1.3783577680587769, -1.8471801280975342, 0.024831176919337516], [340, -1.3102543354034424, -1.846010684967041, 0.021925865454351375], [350, -1.2434406280517578, -1.843227505683899, 0.026195170175124766], [360, -1.1753971576690674, -1.8418142795562744, 0.023119471764787073], [370, -1.1084818840026855, -1.8389962911605835, 0.02680633774675376], [380, -1.0403201580047607, -1.8380072116851807, 0.022984680104641487], [390, -0.9749322533607483, -1.835112452507019, 0.023730568723213236], [400, -0.9076557755470276, -1.8337863683700562, 0.0203289604851561], [410, -0.841754674911499, -1.831028699874878, 0.023959892393718034], [420, -0.7740615606307983, -1.8297858238220215, 0.021190782676574236], [430, -0.7072017192840576, -1.8274608850479126, 0.02538709141739092], [440, -0.6390202045440674, -1.826076865196228, 0.023513226474446407], [450, -0.572293221950531, -1.823269009590149, 0.02647077307576169], [460, -0.5042746663093567, -1.8219400644302368, 0.023931245767253376], [470, -0.43873924016952515, -1.818987250328064, 0.02421664023361603], [480, -0.3714970350265503, -1.8176974058151245, 0.021188456364416935], [490, -0.3053963780403137, -1.8153172731399536, 0.024259094187821087], [500, -0.23798543214797974, -1.8139992952346802, 0.022084884996217972], [510, -0.17115935683250427, -1.811352014541626, 0.025121906965480875], [520, -0.10308919101953506, -1.8097926378250122, 0.024390822598562796], [530, -0.03628167882561684, -1.807124137878418, 0.026102852308397234], [540, 0.03164639323949814, -1.8058750629425049, 0.024391042113436776], [550, 0.097559854388237, -1.8033689260482788, 0.023840339919168712], [560, 0.1646530032157898, -1.8017175197601318, 0.021254946727483275], [570, 0.23057274520397186, -1.799731731414795, 0.023249614630516648], [580, 0.2939561903476715, -1.799317479133606, 0.021775781370152094], [590, 0.35011687874794006, -1.797777771949768, 0.023013327901523602], [600, 0.3985311686992645, -1.7975132465362549, 0.024765514352577837], [610, 0.4388589560985565, -1.7959976196289062, 0.02360470911838177], [620, 0.46872034668922424, -1.7916890382766724, 0.027878714019600313], [630, 0.48753654956817627, -1.7933895587921143, 0.022205330469935686], [640, 0.4956725835800171, -1.7927838563919067, 0.024156077850785156], [650, 0.4963483512401581, -1.7920315265655518, 0.015628532468149547], [660, 0.49819713830947876, -1.7926123142242432, 0.015317949847906773], [670, 0.4996468722820282, -1.7926467657089233, 0.01569645825471722], [680, 0.500839114189148, -1.7922899723052979, 0.01606092026030018], [690, 0.5022536516189575, -1.7918245792388916, 0.01610237636855773], [700, 0.5046889185905457, -1.7914737462997437, 0.015817818312043243], [710, 0.5075518488883972, -1.7910808324813843, 0.015701718681978432], [720, 0.510327935218811, -1.7906900644302368, 0.01561080141051646], [730, 0.5124742984771729, -1.7903375625610352, 0.015499975413308513], [740, 0.5138245820999146, -1.7900784015655518, 0.015542531878622673], [750, 0.5147417783737183, -1.7898880243301392, 0.015471880740880774], [760, 0.5154075622558594, -1.7897413969039917, 0.015461459541412067], [770, 0.5158511400222778, -1.7896708250045776, 0.01546082774599721], [780, 0.5158706903457642, -1.7897461652755737, 0.015429670153473777], [790, 0.5158402323722839, -1.789788007736206, 0.015435042153977424], [800, 0.5157380700111389, -1.7898411750793457, 0.01548671801383524], [810, 0.5157513618469238, -1.789806604385376, 0.015445073239958784], [820, 0.5158288478851318, -1.789756178855896, 0.015436194414185424], [830, 0.5158126950263977, -1.7897673845291138, 0.015438760996657322], [840, 0.5158108472824097, -1.7897616624832153, 0.015438467336803098], [850, 0.5158221125602722, -1.7897487878799438, 0.015436171950313025], [860, 0.5159176588058472, -1.789698839187622, 0.015406606279029532], [870, 0.5159542560577393, -1.7897318601608276, 0.015496627498881813], [880, 0.5158765316009521, -1.7897768020629883, 0.015490929905083155], [890, 0.5159788727760315, -1.7897260189056396, 0.015421501157695274], [900, 0.51595538854599, -1.7897809743881226, 0.015443852208245974], [910, 0.5159109234809875, -1.789808750152588, 0.015435888661390878], [920, 0.5159211754798889, -1.7898037433624268, 0.015443266469091303], [930, 0.5159187912940979, -1.7898062467575073, 0.015440866002221911], [940, 0.5159097909927368, -1.7898086309432983, 0.01544011477172124], [950, 0.5158243179321289, -1.7898478507995605, 0.015424498941498714], [960, 0.5158550143241882, -1.7897963523864746, 0.015431242026048108], [970, 0.5175736546516418, -1.789596676826477, 0.015104060729401346], [980, 0.5184856653213501, -1.7900679111480713, 0.015490242589995418], [990, 0.5176529288291931, -1.7908591032028198, 0.015591657001662177], [1000, 0.5163105726242065, -1.7915241718292236, 0.015567316556208272], [1010, 0.5144841074943542, -1.7918823957443237, 0.015639191818299196], [1020, 0.5125584006309509, -1.7918082475662231, 0.015658496105709477], [1030, 0.5114859342575073, -1.7918871641159058, 0.015660335219924527], [1040, 0.503898024559021, -1.7934596538543701, 0.012720897628021161], [1050, 0.47122517228126526, -1.7957459688186646, 0.011479297463470754], [1060, 0.4260317087173462, -1.7989360094070435, 0.01570097016011503], [1070, 0.38339534401893616, -1.8001046180725098, 0.007583538331005354], [1080, 0.3383808135986328, -1.7995171546936035, 0.0015390927742414957], [1090, 0.29807084798812866, -1.7970558404922485, 0.004381861905850232], [1100, 0.26608026027679443, -1.7964930534362793, 0.002705602611306638], [1110, 0.2407597005367279, -1.7926931381225586, 0.007901178070205309], [1120, 0.23015213012695312, -1.7704230546951294, 0.025605247149163037], [1130, 0.2263694852590561, -1.7396612167358398, 0.03470733413834747], [1140, 0.22032779455184937, -1.6992549896240234, 0.038769103127365145], [1150, 0.216120183467865, -1.6557596921920776, 0.04151711240505956], [1160, 0.21021975576877594, -1.6108343601226807, 0.04314744126334631], [1170, 0.2066444456577301, -1.5644769668579102, 0.046405025342314464], [1180, 0.20253974199295044, -1.5179073810577393, 0.04612100760528143], [1190, 0.19906117022037506, -1.4711881875991821, 0.04919168966206643], [1200, 0.19330397248268127, -1.4254506826400757, 0.0460722925037005], [1210, 0.18763847649097443, -1.378885269165039, 0.0486854521475908], [1220, 0.1805216372013092, -1.3327547311782837, 0.04657433797824542], [1230, 0.17406930029392242, -1.285586953163147, 0.049844026039013195], [1240, 0.16754478216171265, -1.2398815155029297, 0.049085494464342155], [1250, 0.16163748502731323, -1.1929068565368652, 0.05246610198452493], [1260, 0.15559662878513336, -1.146713376045227, 0.05005800121558706], [1270, 0.14952638745307922, -1.099647879600525, 0.053185033657751964], [1280, 0.14307378232479095, -1.0529224872589111, 0.05029372853555158], [1290, 0.13613753020763397, -1.0057374238967896, 0.052472594815046805], [1300, 0.1293260008096695, -0.9597018957138062, 0.04857847357567265], [1310, 0.12173020839691162, -0.9126624464988708, 0.0509825813969535], [1320, 0.11476018279790878, -0.8672311305999756, 0.04838793239504352], [1330, 0.10765249282121658, -0.8201316595077515, 0.050419386810178726], [1340, 0.10182926803827286, -0.7757472395896912, 0.04661374668587004], [1350, 0.09616442024707794, -0.7325287461280823, 0.04837287209510801], [1360, 0.0923173576593399, -0.6973421573638916, 0.0453584674605265], [1370, 0.08887918293476105, -0.663918673992157, 0.04437374647458701], [1380, 0.09703187644481659, -0.6397817730903625, 0.0567173375725057], [1390, 0.12964558601379395, -0.6275497674942017, 0.0655062942493031], [1400, 0.17923401296138763, -0.61977219581604, 0.07824432961824124], [1410, 0.23858878016471863, -0.6183785796165466, 0.08656979457591706], [1420, 0.3030608594417572, -0.618084192276001, 0.09981974538891687], [1430, 0.3694734573364258, -0.6162831783294678, 0.1002164957665941], [1440, 0.43558192253112793, -0.6137195825576782, 0.10687850193449963], [1450, 0.5029160976409912, -0.6105379462242126, 0.10299087905353359], [1460, 0.5697411298751831, -0.6064339876174927, 0.10587242977930689], [1470, 0.637362539768219, -0.6014471054077148, 0.1005732426309006], [1480, 0.7052109241485596, -0.5959277749061584, 0.10476736063505707], [1490, 0.77371746301651, -0.5906232595443726, 0.10055443334820764], [1500, 0.8419109582901001, -0.5848827362060547, 0.10510648793762452], [1510, 0.9090027213096619, -0.5784531831741333, 0.09976262014777873], [1520, 0.9752941727638245, -0.5710659027099609, 0.10395084773237243], [1530, 1.040810465812683, -0.5635105967521667, 0.09940182204981524], [1540, 1.106053352355957, -0.5553411245346069, 0.10136614071953208], [1550, 1.1718987226486206, -0.5484617352485657, 0.09782241151165529], [1560, 1.238980770111084, -0.5422694087028503, 0.10198401662438399], [1570, 1.3065013885498047, -0.5364083647727966, 0.09815978678335738], [1580, 1.3724548816680908, -0.5292919278144836, 0.09985511896294498], [1590, 1.4396113157272339, -0.522417426109314, 0.09683689819251397], [1600, 1.5067758560180664, -0.5147749185562134, 0.09950396923944438], [1610, 1.574920654296875, -0.5073210597038269, 0.09666240267023722], [1620, 1.642602801322937, -0.4992663562297821, 0.10054329086914295], [1630, 1.7112603187561035, -0.49270322918891907, 0.09787573449908737], [1640, 1.7793446779251099, -0.4853321611881256, 0.1017696811936507], [1650, 1.8473597764968872, -0.47793248295783997, 0.09837811429881835], [1660, 1.9112825393676758, -0.4703821539878845, 0.10164112086047879], [1670, 1.9699209928512573, -0.46367114782333374, 0.0972108796795317], [1680, 2.017045259475708, -0.4563508927822113, 0.09903854688771487], [1690, 2.0581250190734863, -0.450834184885025, 0.09638760675269296], [1700, 2.0892813205718994, -0.4450483024120331, 0.10100882932156953], [1710, 2.1107475757598877, -0.44009166955947876, 0.10799430780169698], [1720, 2.1181130409240723, -0.43560028076171875, 0.17864471171467486], [1730, 2.12148380279541, -0.4316982328891754, 0.29122967532717225], [1740, 2.120426893234253, -0.43170177936553955, 0.4422131565655892], [1750, 2.120037078857422, -0.4347758889198303, 0.5977544060886164], [1760, 2.1191675662994385, -0.4375526010990143, 0.7659309788744751], [1770, 2.1179444789886475, -0.4389660358428955, 0.9303926963590695], [1780, 2.1180543899536133, -0.44276484847068787, 1.09906467689819], [1790, 2.117687940597534, -0.44470661878585815, 1.2675599419325165], [1800, 2.1197004318237305, -0.4482342600822449, 1.4342944350168543], [1810, 2.1200520992279053, -0.4472467303276062, 1.5866708527574727], [1820, 2.122145652770996, -0.42136621475219727, 1.6863953211190326], [1830, 2.1191294193267822, -0.37496376037597656, 1.7243109042670823], [1840, 2.1142492294311523, -0.317747563123703, 1.713123393005221], [1850, 2.1129987239837646, -0.2527575194835663, 1.6618272778880498], [1860, 2.113699197769165, -0.18939264118671417, 1.6053290151083037], [1870, 2.1194300651550293, -0.1236778199672699, 1.5584298232662461], [1880, 2.1255767345428467, -0.05986577644944191, 1.5297415780464592], [1890, 2.1331160068511963, 0.006332105025649071, 1.5143070491262591], [1900, 2.138916015625, 0.07077869772911072, 1.5087794874393416], [1910, 2.1448535919189453, 0.13648536801338196, 1.505574923597663], [1920, 2.148940324783325, 0.2028476744890213, 1.5083761363709989], [1930, 2.153106689453125, 0.2707250118255615, 1.5095548172988065], [1940, 2.1559393405914307, 0.3386402428150177, 1.5130081400794744], [1950, 2.159425973892212, 0.40740084648132324, 1.5133235863108379], [1960, 2.162060499191284, 0.4755552411079407, 1.5162993056056715], [1970, 2.165398597717285, 0.544283926486969, 1.515475272018298], [1980, 2.1679043769836426, 0.6124167442321777, 1.5174001739127692], [1990, 2.1711764335632324, 0.6811121702194214, 1.5161016764165607], [2000, 2.173668384552002, 0.7490254044532776, 1.5166791728984517], [2010, 2.1771395206451416, 0.8172525763511658, 1.5155368239743274], [2020, 2.1804003715515137, 0.8850017189979553, 1.5181566390350845], [2030, 2.1837992668151855, 0.9520303010940552, 1.5165935242677266], [2040, 2.1854641437530518, 1.012471318244934, 1.5166710113430473], [2050, 2.187464475631714, 1.0654230117797852, 1.5167242851835365], [2060, 2.188345432281494, 1.1093225479125977, 1.5172873142421472], [2070, 2.1873650550842285, 1.140743613243103, 1.5187398441178335], [2080, 2.1912310123443604, 1.1671475172042847, 1.5147602551656203], [2090, 2.189934730529785, 1.185033917427063, 1.5164347788263957], [2100, 2.187582015991211, 1.1892528533935547, 1.5129757987389145], [2110, 2.1861212253570557, 1.1869045495986938, 1.5066568974795174], [2120, 2.185027599334717, 1.1807242631912231, 1.4977426189503817], [2130, 2.1841647624969482, 1.1740041971206665, 1.4929651048251416], [2140, 2.183541774749756, 1.1676452159881592, 1.4897856899782196], [2150, 2.18326473236084, 1.1621454954147339, 1.4875465861551478], [2160, 2.1837921142578125, 1.1572355031967163, 1.4873352676406242], [2170, 2.1851084232330322, 1.1563359498977661, 1.4870070076305306], [2180, 2.186366081237793, 1.1587382555007935, 1.4881368246914342], [2190, 2.1865949630737305, 1.1606851816177368, 1.4888272090433416], [2200, 2.1871633529663086, 1.1596384048461914, 1.4849347543448397], [2210, 2.1874589920043945, 1.1608966588974, 1.4838666349927516], [2220, 2.18684983253479, 1.1613104343414307, 1.485341772278693], [2230, 2.1868364810943604, 1.160395860671997, 1.4843422805614923], [2240, 2.187147855758667, 1.1596778631210327, 1.485105153423418], [2250, 2.187034845352173, 1.158648133277893, 1.4848644466086964], [2260, 2.1872665882110596, 1.1589183807373047, 1.4841452403475917], [2270, 2.187457799911499, 1.158960223197937, 1.4852105480954607], [2280, 2.1870157718658447, 1.156335473060608, 1.482943963687132], [2290, 2.1873157024383545, 1.1510043144226074, 1.4820374006588444], [2300, 2.186660051345825, 1.1481596231460571, 1.4825551948254356], [2310, 2.1857643127441406, 1.146360158920288, 1.4830312578417553], [2320, 2.1862940788269043, 1.144874095916748, 1.4847209332669762], [2330, 2.1881182193756104, 1.1457422971725464, 1.490153811092038], [2340, 2.1874125003814697, 1.145944356918335, 1.4919506084418401], [2350, 2.1880247592926025, 1.147247314453125, 1.496788583546984], [2360, 2.1885812282562256, 1.1458755731582642, 1.4991540496016], [2370, 2.1884124279022217, 1.1473513841629028, 1.5018319851401005], [2380, 2.1885597705841064, 1.1481508016586304, 1.5052093232879074], [2390, 2.1885781288146973, 1.147411584854126, 1.5061636110927852], [2400, 2.1890182495117188, 1.1495583057403564, 1.5067070152515925], [2410, 2.189171552658081, 1.1505869626998901, 1.5006375872811837], [2420, 2.1887972354888916, 1.1510231494903564, 1.4993111507229326], [2430, 2.1884753704071045, 1.1516832113265991, 1.4983201470455068], [2440, 2.188147783279419, 1.1516021490097046, 1.4973762279071867], [2450, 2.187908411026001, 1.1514428853988647, 1.4969072381360047], [2460, 2.187818765640259, 1.1515727043151855, 1.496995136030489]], "base_path_length_m": 8.828860785963617, "stage_events": [{"tick": 60, "event": "stage", "stage": "nav_A", "goal": [0.5939999999999999, -1.8, 0.0], "heading": "path"}, {"tick": 561, "event": "enter_A", "path_m": 3.2335241513274893}, {"tick": 623, "event": "stage", "stage": "open", "hand": "open"}, {"tick": 639, "event": "stage", "stage": "pre_pinch", "mode": 1, "goal": [1.14, -1.8023, 0.7307, 0.4999, -0.005, 0.866, 0.0086]}, {"tick": 725, "event": "stage_end", "stage": "pre_pinch", "outcome": "finished", "pos_err_m": 0.000834478543401825, "l6": [1.1407, -1.8019, 0.7308, 0.5077, -0.0067, 0.8614, 0.0117], "arm_q_margin": {"piper_joint1": [-0.042, 2.21], "piper_joint2": [2.369, 0.771], "piper_joint3": [-2.173, 0.794], "piper_joint4": [0.124, 1.621], "piper_joint5": [0.392, 0.828], "piper_joint6": [-0.132, 1.962], "piper_joint7": [0.035, 0.0], "piper_joint8": [-0.035, 0.0]}, "hammer": [1.2, -1.8, 0.601, 1.0, 0.0, 0.0, -0.0], "hammer_in_tcp": [0.0849, -0.0012, -0.0008], "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": 3.9307, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 725, "event": "stage", "stage": "pinch_align", "mode": 4, "goal": [1.14, -1.8016, 0.7307, 0.5, -0.0034, 0.866, 0.0058]}, {"tick": 786, "event": "stage_end", "stage": "pinch_align", "outcome": "finished", "pos_err_m": 0.00010129448429573875, "l6": [1.14, -1.8016, 0.7308, 0.5006, -0.0036, 0.8657, 0.0063], "arm_q_margin": {"piper_joint1": [-0.042, 2.21], "piper_joint2": [2.344, 0.796], "piper_joint3": [-2.132, 0.835], "piper_joint4": [0.093, 1.652], "piper_joint5": [0.391, 0.829], "piper_joint6": [-0.103, 1.991], "piper_joint7": [0.035, 0.0], "piper_joint8": [-0.035, 0.0]}, "hammer": [1.2, -1.8, 0.601, 1.0, 0.0, 0.0, -0.0], "hammer_in_tcp": [0.0826, -0.0001, 0.0012], "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": 3.9307, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 792, "event": "stage", "stage": "pinch", "mode": 4, "goal": [1.14, -1.8015, 0.6707, 0.5, -0.0033, 0.866, 0.0058]}, {"tick": 853, "event": "stage_end", "stage": "pinch", "outcome": "finished", "pos_err_m": 0.004502071957457251, "l6": [1.14, -1.8015, 0.6753, 0.5, -0.0034, 0.866, 0.0059], "arm_q_margin": {"piper_joint1": [-0.042, 2.21], "piper_joint2": [2.382, 0.758], "piper_joint3": [-1.981, 0.986], "piper_joint4": [0.171, 1.574], "piper_joint5": [0.205, 1.015], "piper_joint6": [-0.185, 1.91], "piper_joint7": [0.035, 0.0], "piper_joint8": [-0.035, 0.0]}, "hammer": [1.2, -1.8, 0.601, 1.0, 0.0, 0.0, -0.0], "hammer_in_tcp": [0.0343, 0.0003, -0.0264], "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": 3.9307, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 859, "event": "stage", "stage": "close", "hand": "close"}, {"tick": 880, "event": "grasp_close", "hammer": [1.1997931003570557, -1.799936056137085, 0.6010299921035767, 0.9999999403953552, -0.00017697736620903015, -0.00016036890156101435, -0.00012430160131771117]}, {"tick": 880, "event": "grip_opening", "opening_m": 0.01572965271770954}, {"tick": 880, "event": "stage", "stage": "lift", "mode": 4, "goal": [1.1398, -1.8016, 0.7109, 0.5, -0.0035, 0.866, 0.0058]}, {"tick": 893, "event": "object_first_moved", "path_m": 3.579172081889656}, {"tick": 931, "event": "lifted", "z_gain": 0.030280768871307373}, {"tick": 941, "event": "stage_end", "stage": "lift", "outcome": "finished", "pos_err_m": 0.0030694617915095574, "l6": [1.1399, -1.8016, 0.7079, 0.5, -0.0038, 0.866, 0.0057], "arm_q_margin": {"piper_joint1": [-0.042, 2.21], "piper_joint2": [2.352, 0.788], "piper_joint3": [-2.058, 0.909], "piper_joint4": [0.113, 1.632], "piper_joint5": [0.31, 0.91], "piper_joint6": [-0.126, 1.969], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.008, 0.008]}, "hammer": [1.1998, -1.8, 0.6379, 1.0, -0.0003, -0.0001, 0.0003], "hammer_in_tcp": [0.0306, 0.0004, -0.0286], "lowest_face": [1.3138, -1.765, 0.638], "face_tilt_deg": 90.0, "face_over_block_top_m": 0.068, "face_to_block_xy_m": 3.8626, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 952, "event": "lift_check", "gain": 0.039903879165649414}, {"tick": 952, "event": "in_hand", "hammer_in_tcp": [0.030586309453906724, 0.00043981251442026803, -0.028612743270692076, 0.4998653683449144, 0.003325604401326363, -0.8660772043479015, -0.005816355705426319]}, {"tick": 952, "event": "stage", "stage": "carry", "mode": 1, "goal": [0.9157, -1.7837, 0.8877, 0.5001, -0.0038, 0.8659, 0.0057]}, {"tick": 1026, "event": "stage_end", "stage": "carry", "outcome": "finished", "pos_err_m": 0.0016117928889968522, "l6": [0.917, -1.7836, 0.8887, 0.5072, -0.0064, 0.8618, 0.0074], "arm_q_margin": {"piper_joint1": [0.019, 2.149], "piper_joint2": [1.49, 1.49], "piper_joint3": [-1.476, 1.476], "piper_joint4": [-0.025, 1.72], "piper_joint5": [0.58, 0.64], "piper_joint6": [0.029, 2.066], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.008, 0.008]}, "hammer": [0.9781, -1.7816, 0.8198, 1.0, -0.0001, -0.0086, 0.0035], "hammer_in_tcp": [0.0306, 0.0004, -0.0286], "lowest_face": [1.0918, -1.7458, 0.8217], "face_tilt_deg": 90.0, "face_over_block_top_m": 0.2517, "face_to_block_xy_m": 3.9014, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 1026, "event": "stage", "stage": "backoff_A", "goal": [0.14399999999999985, -1.8, 0.0], "heading": "goal"}, {"tick": 1101, "event": "stage", "stage": "via_1", "goal": [0.09999999999999987, -0.55, 0.06182586609865193], "heading": "goal"}, {"tick": 1169, "event": "leave_A", "path_m": 4.090137166420778}, {"tick": 1369, "event": "stage", "stage": "approach_B", "goal": [2.2, -0.4199999999999997, 1.5707963267948966], "heading": "path"}, {"tick": 1801, "event": "stage", "stage": "nav_B", "goal": [2.2, 1.2800000000000002, 1.5707963267948966], "heading": "path"}, {"tick": 2016, "event": "enter_B", "path_m": 8.407980793323668}, {"tick": 2078, "event": "strike_orientation", "candidate": 0, "face_sign": -1, "approach": [0.0, 1.0, 0.013], "closing": [0.0, -0.013, 1.0]}, {"tick": 2078, "event": "stage", "stage": "pre_strike_turn", "mode": 4, "goal": [2.2096, 1.5773, 0.9238, 0.0001, -0.0001, -0.7024, -0.7117]}, {"tick": 2139, "event": "stage_end", "stage": "pre_strike_turn", "outcome": "finished", "pos_err_m": 0.004308563404672806, "l6": [2.2097, 1.5732, 0.9252, 0.0282, -0.0481, 0.7103, 0.7017], "arm_q_margin": {"piper_joint1": [-0.041, 2.209], "piper_joint2": [1.463, 1.463], "piper_joint3": [-1.42, 1.42], "piper_joint4": [1.17, 0.575], "piper_joint5": [0.162, 1.058], "piper_joint6": [0.308, 1.787], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.007, 0.007]}, "hammer": [2.1769, 1.6592, 0.9209, 0.6335, 0.5796, 0.3326, 0.39], "hammer_in_tcp": [0.0306, 0.0002, -0.0286], "lowest_face": [2.2348, 1.7586, 0.8896], "face_tilt_deg": 6.4, "face_over_block_top_m": 0.3196, "face_to_block_xy_m": 0.2364, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 2145, "event": "strike_orientation", "candidate": 0, "face_sign": -1, "approach": [-0.0, 1.0, 0.013], "closing": [0.0, -0.013, 1.0]}, {"tick": 2145, "event": "stage", "stage": "pre_strike", "mode": 4, "goal": [2.1792, 1.8076, 0.7336, 0.0, -0.0, -0.7024, -0.7118]}, {"tick": 2210, "event": "stage_end", "stage": "pre_strike", "outcome": "finished", "pos_err_m": 0.010413117014865577, "l6": [2.1859, 1.8024, 0.7398, 0.0238, 0.0111, 0.7074, 0.7063], "arm_q_margin": {"piper_joint1": [0.108, 2.06], "piper_joint2": [2.42, 0.72], "piper_joint3": [-2.111, 0.856], "piper_joint4": [0.322, 1.423], "piper_joint5": [-0.225, 0.995], "piper_joint6": [1.244, 0.851], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.007, 0.007]}, "hammer": [2.1613, 1.8897, 0.7378, 0.6134, 0.6161, 0.3409, 0.3577], "hammer_in_tcp": [0.0288, -0.0014, -0.0296], "lowest_face": [2.2203, 1.9881, 0.7054], "face_tilt_deg": 1.4, "face_over_block_top_m": 0.1354, "face_to_block_xy_m": 0.0155, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 2210, "event": "stage", "stage": "strike", "mode": 4, "goal": [2.1811, 1.8056, 0.5871, 0.0, -0.0, -0.7024, -0.7118]}, {"tick": 2269, "event": "face_on_plane", "gap": 0.002097483600622674, "lateral": 0.001094221441802035, "tilt": 1.810500941549984, "speed_mps": 0.09915170609289814}, {"tick": 2270, "event": "strike", "data_tick": 2270, "evidence": "sensor", "force_n": 5.021574020380575, "reaction_slip_m": 0.00017119315123471248, "stall_ticks": 0, "goal_deficit_m": 0.0, "impact_speed_mps": 0.09915170609289814, "lateral_m": 0.0011064921552997264, "face_gap_m": 0.000484131634032714, "face_tilt_deg": 1.9338514962514248, "face_sign": -1}, {"tick": 2384, "event": "stage_end", "stage": "strike", "outcome": "finished", "pos_err_m": 0.013142772825199947, "l6": [2.1802, 1.8071, 0.6002, -0.0025, 0.0025, 0.6895, 0.7242], "arm_q_margin": {"piper_joint1": [0.089, 2.079], "piper_joint2": [2.755, 0.385], "piper_joint3": [-2.142, 0.825], "piper_joint4": [0.047, 1.698], "piper_joint5": [-0.55, 0.67], "piper_joint6": [1.54, 0.554], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.007, 0.007]}, "hammer": [2.1516, 1.8928, 0.6033, 0.5859, 0.624, 0.3548, 0.376], "hammer_in_tcp": [0.0286, -0.0013, -0.0297], "lowest_face": [2.2046, 1.9957, 0.5744], "face_tilt_deg": 3.5, "face_over_block_top_m": 0.0044, "face_to_block_xy_m": 0.0027, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 2390, "event": "stage", "stage": "lift_after", "mode": 4, "goal": [2.1802, 1.8073, 0.6803, -0.0023, 0.0027, 0.6905, 0.7233]}, {"tick": 2429, "event": "head_left", "gap": 0.050005765465991114}, {"tick": 2451, "event": "stage_end", "stage": "lift_after", "outcome": "finished", "pos_err_m": 0.006822864480919315, "l6": [2.18, 1.8076, 0.6735, -0.0018, 0.0022, 0.6913, 0.7225], "arm_q_margin": {"piper_joint1": [0.098, 2.07], "piper_joint2": [2.547, 0.593], "piper_joint3": [-2.089, 0.878], "piper_joint4": [0.063, 1.682], "piper_joint5": [-0.419, 0.801], "piper_joint6": [1.522, 0.572], "piper_joint7": [0.008, 0.008], "piper_joint8": [-0.007, 0.007]}, "hammer": [2.1514, 1.8934, 0.6761, 0.5878, 0.6225, 0.3551, 0.3754], "hammer_in_tcp": [0.0286, -0.0013, -0.0297], "lowest_face": [2.2045, 1.9961, 0.6469], "face_tilt_deg": 3.3, "face_over_block_top_m": 0.0769, "face_to_block_xy_m": 0.0031, "hammer_force_n": 0.0, "block_net_force_n": [0.0, 0.0, 0.0]}, {"tick": 2462, "event": "command_complete"}], "transport_state": "carried", "transport_history": [[1, "at_A"], [931, "carried"], [2258, "at_B"], [2419, "carried"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 4.31784362690289}, "interstation_net_m": 3.1279158889151226, "distance_to_first_interaction": 3.579172081889656, "final_approach_pose": [2.187818765640259, 1.1515727043151855, 1.496995136030489], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N010", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C4", "primary_category": "hammer_block_contact", "level": "easy", "embodiment": "go2_arm", "scene_seed": 7051, "execution_mode": "expert_collect", "planner_seeds": "lean", "review_cameras": [], "policy_obs_signature": ["/camera_info[0]/rgb[0]:(480, 640, 4):uint8", "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.5939999999999999, -1.8, 0.0], "B": [2.2, 1.2800000000000002, 1.5707963267948966]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"force_n": 0.0, "peak_force_n": 5.021574020380575, "impulse_ns": 0.03040846701991369, "reaction_slip_m": 0.0, "face_lateral_m": 0.002148268926855172, "face_gap_m": 0.08426269655223029, "face_tilt_deg": 3.4261672525047295, "robot_min_gap_m": 0.04795901452158195, "contact_episodes": 1}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "rigid_friction", "ticks": 2469, "control_steps": 2339, "hammer_final_pose": [2.151712656021118, 1.8923876285552979, 0.683271586894989, 0.5866857171058655, 0.6235293745994568, 0.35486987233161926, 0.3756040632724762], "block_final_pose": [2.2057018280029297, 1.9932348728179932, 0.5300001502037048, 1.0, -8.680897281010402e-07, -2.2999314808203053e-07, 0.00021040232968516648], "strike": {"tick": 2270, "evidence": "sensor", "force_n": 5.021574020380575, "reaction_slip_m": 0.00017119315123471248, "stall_ticks": 0, "goal_deficit_m": 0.0, "impact_speed_mps": 0.09915170609289814, "lateral_m": 0.0011064921552997264, "face_gap_m": 0.000484131634032714, "face_tilt_deg": 1.9338514962514248, "face_sign": -1}, "block_reaction": {"observed": true, "ref_tick": 2258, "ticks": 170, "max_displacement_m": 2.7068909840821637e-05, "min_dz_m": -1.1920928955078125e-07, "max_speed_mps": 0.001348857193770828, "moved_1mm": false}, "head_left_tick": 2429, "contact_evidence": "sensor", "force_data": "reliable", "peak_force_n": 5.021574020380575, "impulse_ns": 0.03040846701991369, "contact_episodes": 1, "max_reaction_slip_m": 0.0003861545049747316, "max_stall_ticks_on_plane": 10, "max_goal_deficit_on_plane_m": 0.014532623199684753, "impact_speed_mps": 0.09915170609289814, "face_on_plane_first_tick": 2269, "robot_min_gap_m": 0.04795901452158195, "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"}