add 4 staged episodes

N023/sawyer_umi/dr_off/seed_1003/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "890 rows vs ceil(1780/2) = 890"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..1809, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "8.89 MB, 890 frames at 25 fps, mean luma 118..139, std 40, new picture 889x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "890 vs 890"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "14.68 MB, 890 frames at 25 fps, mean luma 115..164, std 42, new picture 889x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "890 vs 890"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N023/sawyer_umi/dr_off/seed_1003/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n023_saw_off_1003/out  task=N023  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n023_saw_off_1003/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 890  videos 2  robot_type RidgebackSawyerUmiCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 890 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'
+rows 890 at dataset fps 25 = 35.60 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 890 rows vs ceil(1780/2) = 890
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..1809, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 8.89 MB, 890 frames at 25 fps, mean luma 118..139, std 40, new picture 889x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 890 vs 890
+[PASS] video observation.images.wrist decodes, 640x480, not black: 14.68 MB, 890 frames at 25 fps, mean luma 115..164, std 42, new picture 889x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 890 vs 890
+parquet size 1.03 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 24.77 MB; whole cell dir 25.3 MB
+RESULT: ALL PASS

N023/sawyer_umi/dr_off/seed_1003/report.json

@@ -0,0 +1,1284 @@
+{
+  "task": "N023",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 1003,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/src/magicsim/Collect/Task/MobileAssembly/Conf/n023_pen_cap.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1003,
+    "pen_cap": {
+      "dx": 0.01337,
+      "dy": 0.05312,
+      "yaw_deg": -7.22378
+    },
+    "cap_mass": 0.0183,
+    "light": 999.4869,
+    "spawn": {
+      "dx": 0.05811,
+      "dy": -0.03448,
+      "yaw_deg": 3.25735
+    },
+    "overrides": {
+      "env.scene.objects.pen_holder.common.pos": [
+        -1.98663,
+        1.40312,
+        0.48
+      ],
+      "env.scene.objects.pen_holder.common.ori": [
+        0.0,
+        0.0,
+        -7.22378
+      ],
+      "env.scene.objects.cap.common.pos": [
+        -2.07145,
+        1.41387,
+        0.48
+      ],
+      "env.scene.objects.cap.common.ori": [
+        0.0,
+        0.0,
+        -7.22378
+      ],
+      "env.scene.objects.cap.cap_1.physics.mass": 0.0183,
+      "env.scene.background.intensity": [
+        999.4869,
+        999.4869
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.54189,
+          -2.53448,
+          0.06
+        ],
+        [
+          -3.54189,
+          -2.53448,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          63.25735
+        ],
+        [
+          0,
+          0,
+          63.25735
+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N023",
+    "robot": "sawyer_umi",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N023",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/head",
+        "pos": [
+          0.2166,
+          0.0,
+          -0.045
+        ],
+        "ori": [
+          -0.0,
+          35.0,
+          -90.0
+        ],
+        "focal_length": 2.0,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
+          0.0598,
+          0.0,
+          0.03
+        ],
+        "ori": [
+          180.0,
+          0.0,
+          -90.0
+        ],
+        "focal_length": 1.8,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 1810,
+  "task_id": "N023",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "cap_transfer",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
+  "station_layout": {
+    "S": {
+      "pose": [
+        -3.6,
+        -2.5,
+        60.0
+      ]
+    },
+    "A": {
+      "center": [
+        -2.0,
+        0.6
+      ],
+      "zone_radius": 0.6,
+      "table": "table_A"
+    }
+  },
+  "spawn_pose": [
+    -3.5418896675109863,
+    -2.534479856491089,
+    1.104049153166477
+  ],
+  "base_path": [
+    [
+      -3.542,
+      -2.534,
+      1.104
+    ],
+    [
+      -3.542,
+      -2.534,
+      1.104
+    ],
+    [
+      -3.542,
+      -2.534,
+      1.104
+    ],
+    [
+      -3.542,
+      -2.534,
+      1.105
+    ],
+    [
+      -3.531,
+      -2.513,
+      1.115
+    ],
+    [
+      -3.507,
+      -2.462,
+      1.122
+    ],
+    [
+      -3.48,
+      -2.408,
+      1.127
+    ],
+    [
+      -3.455,
+      -2.354,
+      1.13
+    ],
+    [
+      -3.431,
+      -2.299,
+      1.132
+    ],
+    [
+      -3.406,
+      -2.244,
+      1.133
+    ],
+    [
+      -3.381,
+      -2.19,
+      1.134
+    ],
+    [
+      -3.355,
+      -2.136,
+      1.135
+    ],
+    [
+      -3.331,
+      -2.081,
+      1.135
+    ],
+    [
+      -3.305,
+      -2.026,
+      1.135
+    ],
+    [
+      -3.279,
+      -1.972,
+      1.135
+    ],
+    [
+      -3.255,
+      -1.918,
+      1.136
+    ],
+    [
+      -3.23,
+      -1.863,
+      1.136
+    ],
+    [
+      -3.204,
+      -1.809,
+      1.136
+    ],
+    [
+      -3.178,
+      -1.755,
+      1.136
+    ],
+    [
+      -3.154,
+      -1.7,
+      1.136
+    ],
+    [
+      -3.129,
+      -1.645,
+      1.136
+    ],
+    [
+      -3.103,
+      -1.591,
+      1.136
+    ],
+    [
+      -3.077,
+      -1.537,
+      1.136
+    ],
+    [
+      -3.053,
+      -1.482,
+      1.136
+    ],
+    [
+      -3.027,
+      -1.428,
+      1.136
+    ],
+    [
+      -3.001,
+      -1.374,
+      1.136
+    ],
+    [
+      -2.977,
+      -1.319,
+      1.136
+    ],
+    [
+      -2.952,
+      -1.265,
+      1.136
+    ],
+    [
+      -2.926,
+      -1.211,
+      1.136
+    ],
+    [
+      -2.901,
+      -1.156,
+      1.136
+    ],
+    [
+      -2.876,
+      -1.101,
+      1.136
+    ],
+    [
+      -2.85,
+      -1.047,
+      1.136
+    ],
+    [
+      -2.824,
+      -0.993,
+      1.136
+    ],
+    [
+      -2.8,
+      -0.938,
+      1.136
+    ],
+    [
+      -2.775,
+      -0.884,
+      1.136
+    ],
+    [
+      -2.749,
+      -0.83,
+      1.136
+    ],
+    [
+      -2.724,
+      -0.775,
+      1.136
+    ],
+    [
+      -2.699,
+      -0.72,
+      1.136
+    ],
+    [
+      -2.673,
+      -0.666,
+      1.136
+    ],
+    [
+      -2.647,
+      -0.612,
+      1.136
+    ],
+    [
+      -2.623,
+      -0.557,
+      1.136
+    ],
+    [
+      -2.597,
+      -0.503,
+      1.136
+    ],
+    [
+      -2.571,
+      -0.449,
+      1.136
+    ],
+    [
+      -2.547,
+      -0.394,
+      1.136
+    ],
+    [
+      -2.522,
+      -0.339,
+      1.136
+    ],
+    [
+      -2.496,
+      -0.285,
+      1.136
+    ],
+    [
+      -2.47,
+      -0.231,
+      1.136
+    ],
+    [
+      -2.446,
+      -0.176,
+      1.136
+    ],
+    [
+      -2.42,
+      -0.122,
+      1.136
+    ],
+    [
+      -2.394,
+      -0.067,
+      1.136
+    ],
+    [
+      -2.369,
+      -0.013,
+      1.136
+    ],
+    [
+      -2.345,
+      0.042,
+      1.136
+    ],
+    [
+      -2.319,
+      0.096,
+      1.136
+    ],
+    [
+      -2.293,
+      0.15,
+      1.136
+    ],
+    [
+      -2.269,
+      0.205,
+      1.136
+    ],
+    [
+      -2.243,
+      0.259,
+      1.136
+    ],
+    [
+      -2.214,
+      0.312,
+      1.136
+    ],
+    [
+      -2.18,
+      0.358,
+      1.136
+    ],
+    [
+      -2.152,
+      0.396,
+      1.136
+    ],
+    [
+      -2.128,
+      0.429,
+      1.136
+    ],
+    [
+      -2.107,
+      0.456,
+      1.136
+    ],
+    [
+      -2.09,
+      0.479,
+      1.136
+    ],
+    [
+      -2.076,
+      0.499,
+      1.136
+    ],
+    [
+      -2.063,
+      0.515,
+      1.136
+    ],
+    [
+      -2.058,
+      0.524,
+      1.208
+    ],
+    [
+      -2.057,
+      0.524,
+      1.304
+    ],
+    [
+      -2.057,
+      0.524,
+      1.374
+    ],
+    [
+      -2.057,
+      0.524,
+      1.426
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ],
+    [
+      -2.057,
+      0.524,
+      1.458
+    ]
+  ],
+  "stage_events": [
+    {
+      "step": 30,
+      "event": "stage_start",
+      "stage": "nav_A"
+    },
+    {
+      "step": 521,
+      "event": "enter_zone",
+      "zone": "A",
+      "base": [
+        -2.319,
+        0.096
+      ]
+    },
+    {
+      "step": 670,
+      "event": "stage_done",
+      "stage": "nav_A",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 670,
+      "event": "stage_start",
+      "stage": "stance_A"
+    },
+    {
+      "step": 677,
+      "event": "stage_done",
+      "stage": "stance_A",
+      "skill_state": "finished"
+    },
+    {
+      "step": 677,
+      "event": "stage_start",
+      "stage": "pick"
+    },
+    {
+      "step": 1062,
+      "event": "stage_done",
+      "stage": "pick",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1062,
+      "event": "stage_start",
+      "stage": "assemble"
+    },
+    {
+      "step": 1062,
+      "event": "wp_start",
+      "name": "start",
+      "kind": "servo"
+    },
+    {
+      "step": 1062,
+      "event": "assemble_start",
+      "t_l6_part": [
+        0.222,
+        0.0129,
+        -0.0022,
+        0.5637,
+        -0.5959,
+        -0.4154,
+        0.3932
+      ]
+    },
+    {
+      "step": 1065,
+      "event": "wp_done",
+      "name": "start"
+    },
+    {
+      "step": 1065,
+      "event": "wp_start",
+      "name": "pull",
+      "kind": "servo"
+    },
+    {
+      "step": 1092,
+      "event": "cap_off",
+      "x_mm": -105.4
+    },
+    {
+      "step": 1118,
+      "event": "wp_done",
+      "name": "pull"
+    },
+    {
+      "step": 1118,
+      "event": "wp_start",
+      "name": "lift",
+      "kind": "servo"
+    },
+    {
+      "step": 1140,
+      "event": "picked",
+      "part": [
+        -2.1342,
+        1.4203,
+        0.5095
+      ],
+      "gap_mm": 37.3,
+      "lift_mm": 30.6
+    },
+    {
+      "step": 1160,
+      "event": "wp_done",
+      "name": "lift"
+    },
+    {
+      "step": 1160,
+      "event": "wp_start",
+      "name": "turn",
+      "kind": "servo"
+    },
+    {
+      "step": 1404,
+      "event": "wp_done",
+      "name": "turn"
+    },
+    {
+      "step": 1404,
+      "event": "wp_start",
+      "name": "over_tail",
+      "kind": "servo"
+    },
+    {
+      "step": 1584,
+      "event": "wp_done",
+      "name": "over_tail"
+    },
+    {
+      "step": 1584,
+      "event": "wp_start",
+      "name": "down",
+      "kind": "servo"
+    },
+    {
+      "step": 1632,
+      "event": "wp_done",
+      "name": "down"
+    },
+    {
+      "step": 1632,
+      "event": "wp_start",
+      "name": "push_on",
+      "kind": "servo"
+    },
+    {
+      "step": 1686,
+      "event": "wp_done",
+      "name": "push_on"
+    },
+    {
+      "step": 1686,
+      "event": "release_start"
+    },
+    {
+      "step": 1765,
+      "event": "leave_start"
+    },
+    {
+      "step": 1781,
+      "event": "released",
+      "gap_mm": 41.7
+    },
+    {
+      "step": 1810,
+      "event": "success",
+      "ok": true,
+      "seat_dx_mm": 0.11,
+      "lateral_mm": 1.09,
+      "axis_deg": 0.21,
+      "nib_exposed": true
+    }
+  ],
+  "station_transition_order": [
+    "S",
+    "A"
+  ],
+  "interstation_path_lengths": {
+    "S": 2.901,
+    "S->A": 0.505
+  },
+  "base_path_length": 3.406,
+  "distance_to_first_interaction": 3.406,
+  "regrasp_events": 0,
+  "violations": [],
+  "end_state": {
+    "ok": true,
+    "seat_dx_mm": 0.11,
+    "lateral_mm": 1.09,
+    "axis_deg": 0.21,
+    "nib_exposed": true
+  },
+  "manipulation_success": true,
+  "mobile_success": true,
+  "transport_state": {
+    "picked": true,
+    "released": true
+  },
+  "command_state": null,
+  "elapsed_s": 503.9
+}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/completed/0.json

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

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ea3efdfbde8855493a267d7727b1170ac33e2081b339cf8c87cd79367c1a09
+size 1032275

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen."], "length": 890, "magicsim/control_steps": 1780, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is to the left of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front-right, at table height."}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.09549010597546113, -0.0015427984590275904, 0.00969564857509437, -2.2644339944539444, 0.7854940112052339, 0.9761783434433884, 0.4283897323901451, 0.28358958336744416, 0.4109627788368445, -0.23120408011286447, 0.3898876404494382], "std": [0.1364952333620244, 0.008377546610895424, 0.06003928308674455, 0.4337128603800938, 1.0066933688078064, 0.27692520701209616, 0.17333634766764014, 0.43016100228854465, 0.21526740358009594, 0.5022841386129321, 0.4877245823968789], "min": [0.0, -0.06263568997383118, -1.8835067749023438e-05, -3.444037675857544, -1.9822988510131836, 0.6815004944801331, -0.4282236695289612, -0.6145668625831604, -0.6208251118659973, -0.7575843930244446, 0.0], "max": [0.30000001192092896, 0.00799474772065878, 0.6329848766326904, -1.7409336566925049, 1.4891942739486694, 1.3033636808395386, 0.6421477198600769, 0.680044949054718, 0.6251362562179565, 0.7578062415122986, 1.0], "count": [890]}, "action_is_hold": {"mean": [0.021348314606741574, 0.021348314606741574, 0.021348314606741574, 0.09213483146067415, 0.09213483146067415, 0.09213483146067415, 0.09213483146067415, 0.09213483146067415, 0.09213483146067415, 0.09213483146067415, 0.7932584269662921], "std": [0.14454260295910462, 0.14454260295910462, 0.14454260295910462, 0.28921618954060524, 0.28921618954060524, 0.28921618954060524, 0.28921618954060524, 0.28921618954060524, 0.28921618954060524, 0.28921618954060524, 0.4049685111379106], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [890]}, "observation.state": {"mean": [-0.7013476299435905, -2.483921754494142, 1.3447913210043747, 0.031647241192980714, -9.261092517334725e-09, -1.1967695718400935, -0.1935220260597575, 1.0413022247927912, 0.14546383432823523, 1.967221847277009, 0.8303657306100642, 0.01142588269721552, -0.013100365821001339, -0.013100365821001339, -0.01142588269721552], "std": [0.9849213945751997, 0.01671665029361194, 0.15306841300807775, 0.12384827140750726, 1.6643232105892977e-05, 0.36127764970554016, 0.34985052812122036, 0.46838623813745817, 0.4376003109460025, 0.6541645780650197, 0.9835399635755829, 0.008893138710011222, 0.010025031942100032, 0.010025031942100032, 0.008893138710011222], "min": [-3.5418899059295654, -2.534480094909668, 1.1040489673614502, -0.2341006100177765, -0.00010913349251495674, -1.6101351976394653, -0.7979728579521179, 0.49116581678390503, -0.418670117855072, 1.1480886936187744, -0.05345619469881058, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [-0.14249634742736816, -2.4363882541656494, 1.4581151008605957, 0.3259296715259552, 0.00033219062606804073, -0.6850391030311584, 0.3301445245742798, 1.6673755645751953, 0.9443271160125732, 2.7046289443969727, 2.59574031829834, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [890]}, "observation.joint_vel": {"mean": [0.09549286158702229, 0.0014295275703339304, 0.010212382654105302, -0.002058956388851892, -0.0003226353092699197, 0.02439201493192692, -0.021624749158926985, 0.02920930512059462, 0.02672213511310893, -0.03758134312298976, 0.06345589365101974, -0.0029661403534407636, 0.0008953376187783267], "std": [0.13643831076227875, 0.008606825872953092, 0.06220829747116624, 0.07746569123238432, 0.0009421920258860065, 0.05953217122055054, 0.08388825523777142, 0.08970393776996657, 0.11987520538052007, 0.11485641329012473, 0.15178583038448595, 0.009255559154410441, 0.008800331305846268], "min": [-9.771988698048517e-05, -0.04992331936955452, -0.00023795846209395677, -0.21960265934467316, -0.02035931497812271, -0.13651658594608307, -0.19066087901592255, -0.1836872100830078, -0.3258020877838135, -0.32304292917251587, -0.22582796216011047, -0.03757303208112717, -0.10011444240808487], "max": [0.3017227053642273, 0.014594023115932941, 0.6516008973121643, 0.17246456444263458, 0.002278486965224147, 0.16672201454639435, 0.1944483071565628, 0.19299207627773285, 0.32794076204299927, 0.2490973323583603, 0.41582271456718445, 0.10001680254936218, 0.0441715270280838], "count": [890]}, "observation.eef_pose": {"mean": [-2.26394653387284, 0.7829238053869059, 0.9797557962744423, 0.21901280306949375, 0.5079870594351479, 0.08933620317263549, -0.5482938170098187], "std": [0.43380290818028955, 1.0055535258038237, 0.27751358449943203, 0.40973562195992164, 0.09019366851288455, 0.4521828902208333, 0.06991306560228194], "min": [-3.4452710151672363, -1.9822988510131836, 0.6816628575325012, -0.429012656211853, 0.3670169413089752, -0.6215820908546448, -0.7649496793746948], "max": [-1.7413785457611084, 1.4858964681625366, 1.3055384159088135, 0.6449066400527954, 0.6701997518539429, 0.5090791583061218, -0.4265938997268677], "count": [890]}, "observation.environment_state": {"mean": [-2.0449534311723174, 1.4099668181344365, 0.4947570274720031, 0.6758822756196802, 0.00044986465213211243, -0.0014678051250521758, 0.24217390680497283, -1.9866299629211426, 1.4031200408935547, 0.47999998927116394, 0.9980136752128601, 0.0, 0.0, -0.06299765408039093, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "std": [0.07764224668863498, 0.009956497936794982, 0.02573187497882565, 0.48083095785124885, 0.017998679315310052, 0.026902601818442756, 0.5022812739475426, 0.0, 0.0, 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": [-2.1351287364959717, 1.3826619386672974, 0.4783988893032074, -0.6982730627059937, -0.05405758321285248, -0.09438721090555191, -0.6966179609298706, -1.9866299629211426, 1.4031200408935547, 0.47999998927116394, 0.9980136752128601, 0.0, 0.0, -0.06299765408039093, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "max": [-1.8311436176300049, 1.4251165390014648, 0.545379102230072, 0.9981452226638794, 0.06696433573961258, 0.09373508393764496, 0.998645007610321, -1.9866299629211426, 1.4031200408935547, 0.47999998927116394, 0.9980136752128601, 0.0, 0.0, -0.06299765408039093, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "count": [890]}, "action.command": {"mean": [-3.541962146759033, -2.534411907196045, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 0.18811881188118812, -2.2924720051855143, 0.725056556818804, 1.0004430206695405, 0.4222631442309, 0.3007197704276826, 0.4016912460083944, -0.25777507713525605, 0.16304347826086957, -3.509053945541382, -2.4635872840881348, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.503821849822998, -2.452326774597168, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.4224026203155518, -2.2770962715148926, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.4216532707214355, -2.2754836082458496, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.4127657413482666, -2.2563562393188477, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.34627103805542, -2.113245964050293, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.3406572341918945, -2.101163625717163, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.2732653617858887, -1.9561229944229126, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.2587599754333496, -1.924904465675354, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.200834035873413, -1.8002362251281738, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.177867889404297, -1.7508084774017334, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.128403663635254, -1.6443517208099365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.097167730331421, -1.577125906944275, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.0559732913970947, -1.4884673357009888, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -3.0168566703796387, -1.4042803049087524, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.9835431575775146, -1.3325828313827515, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.9366843700408936, -1.2317334413528442, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.9111127853393555, -1.1766983270645142, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.8562188148498535, -1.0585553646087646, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.8386826515197754, -1.0208138227462769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.7762610912323, -0.886469841003418, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.7662525177001953, -0.86492919921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.6955809593200684, -0.7128300666809082, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.693822145462036, -0.7090446352958679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.676581859588623, -0.6719399094581604, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.621391773223877, -0.5531600117683411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.6157612800598145, -0.541041910648346, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.5489614009857178, -0.3972754180431366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.5351338386535645, -0.36751580238342285, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.4765310287475586, -0.24139083921909332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.4551234245300293, -0.1953173577785492, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.4041006565093994, -0.08550628274679184, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.37460994720459, -0.02203620970249176, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.331329584121704, 0.07111206650733948, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.2942140102386475, 0.15099231898784637, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.257228136062622, 0.23059311509132385, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.2141807079315186, 0.32323983311653137, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.180253267288208, 0.3962586224079132, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.1354472637176514, 0.49268996715545654, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.0995137691497803, 0.5700262188911438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.057725429534912, 0.659963071346283, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.680036663264036, -0.30873683420941234, 1.3033587373793125, 0.4375839657150209, 0.5497731059789658, 0.4279685483314097, -0.5680479804053903, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.467218499235058, 0.4423566201549927, 1.037185034899642, 0.2739387389254069, 0.17977720318129534, 0.4208987807828671, 0.220518772350234, 0.4953315919698412, 0.3694053362601398, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.453298987522691, 0.969367380860561, 5.9488115544137774e-08, 0.011357965969139875, 0.009488834490783204, 0.010987855952422418, 0.009708324089415014, 0.0], "min": [-3.541962146759033, -2.534411907196045, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, -1.0, -3.444037675857544, -1.9822988510131836, 0.6815004944801331, -0.4282236695289612, -0.6145668625831604, -0.6208251118659973, -0.7575843930244446, 0.0, -3.509053945541382, -2.4635872840881348, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.503821849822998, -2.452326774597168, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.4224026203155518, -2.2770962715148926, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.4216532707214355, -2.2754836082458496, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.4127657413482666, -2.2563562393188477, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.34627103805542, -2.113245964050293, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.3406572341918945, -2.101163625717163, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.2732653617858887, -1.9561229944229126, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.2587599754333496, -1.924904465675354, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.200834035873413, -1.8002362251281738, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.177867889404297, -1.7508084774017334, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.128403663635254, -1.6443517208099365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.097167730331421, -1.577125906944275, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.0559732913970947, -1.4884673357009888, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -3.0168566703796387, -1.4042803049087524, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.9835431575775146, -1.3325828313827515, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.9366843700408936, -1.2317334413528442, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.9111127853393555, -1.1766983270645142, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.8562188148498535, -1.0585553646087646, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.8386826515197754, -1.0208138227462769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.7762610912323, -0.886469841003418, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.7662525177001953, -0.86492919921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.6955809593200684, -0.7128300666809082, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.693822145462036, -0.7090446352958679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.676581859588623, -0.6719399094581604, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.621391773223877, -0.5531600117683411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.6157612800598145, -0.541041910648346, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.5489614009857178, -0.3972754180431366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.5351338386535645, -0.36751580238342285, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.4765310287475586, -0.24139083921909332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.4551234245300293, -0.1953173577785492, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.4041006565093994, -0.08550628274679184, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.37460994720459, -0.02203620970249176, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.331329584121704, 0.07111206650733948, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.2942140102386475, 0.15099231898784637, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.257228136062622, 0.23059311509132385, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.2141807079315186, 0.32323983311653137, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.180253267288208, 0.3962586224079132, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.1354472637176514, 0.49268996715545654, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.0995137691497803, 0.5700262188911438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.057725429534912, 0.659963071346283, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -3.444037675857544, -1.9822988510131836, 1.3033586740493774, 0.42646166682243347, 0.48768332600593567, 0.4172041714191437, -0.5766384601593018, 0.0], "max": [-3.541962146759033, -2.534411907196045, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.7409336566925049, 1.4891942739486694, 1.3033636808395386, 0.6421477198600769, 0.680044949054718, 0.6251362562179565, 0.7578062415122986, 1.0, -3.509053945541382, -2.4635872840881348, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.503821849822998, -2.452326774597168, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.4224026203155518, -2.2770962715148926, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.4216532707214355, -2.2754836082458496, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.4127657413482666, -2.2563562393188477, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.34627103805542, -2.113245964050293, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.3406572341918945, -2.101163625717163, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.2732653617858887, -1.9561229944229126, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.2587599754333496, -1.924904465675354, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.200834035873413, -1.8002362251281738, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.177867889404297, -1.7508084774017334, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.128403663635254, -1.6443517208099365, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.097167730331421, -1.577125906944275, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.0559732913970947, -1.4884673357009888, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -3.0168566703796387, -1.4042803049087524, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.9835431575775146, -1.3325828313827515, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.9366843700408936, -1.2317334413528442, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.9111127853393555, -1.1766983270645142, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.8562188148498535, -1.0585553646087646, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.8386826515197754, -1.0208138227462769, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.7762610912323, -0.886469841003418, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.7662525177001953, -0.86492919921875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.6955809593200684, -0.7128300666809082, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.693822145462036, -0.7090446352958679, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.676581859588623, -0.6719399094581604, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.621391773223877, -0.5531600117683411, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.6157612800598145, -0.541041910648346, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.5489614009857178, -0.3972754180431366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.5351338386535645, -0.36751580238342285, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.4765310287475586, -0.24139083921909332, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.4551234245300293, -0.1953173577785492, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.4041006565093994, -0.08550628274679184, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.37460994720459, -0.02203620970249176, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.331329584121704, 0.07111206650733948, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.2942140102386475, 0.15099231898784637, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.257228136062622, 0.23059311509132385, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.2141807079315186, 0.32323983311653137, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.180253267288208, 0.3962586224079132, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.1354472637176514, 0.49268996715545654, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.0995137691497803, 0.5700262188911438, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.057725429534912, 0.659963071346283, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0, -2.0, 0.6000000238418579, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9786930084228516, 1.0850144624710083, 1.303358793258667, 0.5097547769546509, 0.5581746697425842, 0.49777841567993164, -0.5045111775398254, 0.0], "count": [890]}, "action.applied": {"mean": [0.09549010597546113, -0.0015427984590275904, 0.00969564857509437, 0.031559627717157826, -1.1952359854505303, -0.19495361207750342, 1.0432388131872992, 0.14698489153677838, 1.9645968912692553, 0.8347187036990952, 0.0011572226902909493, -0.0011572226902909493], "std": [0.1364952333620244, 0.008377546610895424, 0.06003928308674455, 0.12395774850945716, 0.3613094330615077, 0.3504856005814936, 0.46828457769152293, 0.43838759099075875, 0.6540435503722468, 0.9850159255121058, 0.011957562933441876, 0.011957562933441876], "min": [0.0, -0.06263568997383118, -1.8835067749023438e-05, -0.233884796500206, -1.6050612926483154, -0.8001226186752319, 0.4887586236000061, -0.4187149107456207, 1.139329195022583, -0.0562528520822525, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.00799474772065878, 0.6329848766326904, 0.3249698877334595, -0.6846351027488708, 0.33321213722229004, 1.668174147605896, 0.9459882974624634, 2.7060701847076416, 2.6008520126342773, 0.020833000540733337, 0.009999999776482582], "count": [890]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [890]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [890]}, "sim_step_idx": {"mean": [920.0], "std": [513.8414152245807], "min": [31.0], "max": [1809.0], "count": [890]}, "timestamp": {"mean": [17.78000000512667], "std": [10.276828310020939], "min": [0.0], "max": [35.560001373291016], "count": [890]}, "frame_index": {"mean": [444.5], "std": [256.92070761229036], "min": [0.0], "max": [889.0], "count": [890]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [890]}, "index": {"mean": [444.5], "std": [256.92070761229036], "min": [0.0], "max": [889.0], "count": [890]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [890]}, "next.done": {"mean": [0.0011235955056179776], "std": [0.033501239361518144], "min": [0.0], "max": [1.0], "count": [890]}, "observation.images.head": {"mean": [[[0.5673464426283145]], [[0.4898187792193437]], [[0.4419950039562314]]], "std": [[[0.13889644536849655]], [[0.1820774453406296]], [[0.17555375555480096]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9137254901960784]], [[0.8549019607843137]], [[0.8745098039215686]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5939338330865892]], [[0.5094875293212211]], [[0.43565869343364977]]], "std": [[[0.15591438135710395]], [[0.2017293712930542]], [[0.21184498674416347]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8941176470588236]], [[0.8784313725490196]], [[0.9215686274509803]]], "count": [100]}}}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,538 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 1780,
+ "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": [
+      4.296801157715584,
+      0.43590745096912353,
+      0.170000035822755
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0000000000000002,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.1102230246251565e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "pen_holder_1",
+     "cat_name": "pen_holder",
+     "inst_id": 1,
+     "noun": "pen holder",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.21626692862997,
+      0.3804211579629853,
+      0.4200000368908009
+     ],
+     "bbox": {
+      "extent": [
+       0.21746457544333506,
+       0.11989877929513826,
+       0.06449999939650297
+      ],
+      "center": [
+       -4.163336342344337e-17,
+       0.0,
+       -0.017750000115484
+      ]
+     }
+    },
+    {
+     "id": "cap_1",
+     "cat_name": "cap",
+     "inst_id": 1,
+     "noun": "cap",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      4.1877486749810915,
+      0.4610234591739772,
+      0.4189016583163527
+     ],
+     "bbox": {
+      "extent": [
+       0.04875787401086405,
+       0.0451928470765959,
+       0.03529046349330456
+      ],
+      "center": [
+       -5.914442455257421e-06,
+       2.2789334388876453e-05,
+       1.8780697658149492e-07
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_A_1",
+     "relation": "left_of",
+     "object": "pen_holder_1"
+    },
+    {
+     "subject": "pen_holder_1",
+     "relation": "right_of",
+     "object": "cap_1"
+    },
+    {
+     "subject": "cap_1",
+     "relation": "left_of",
+     "object": "pen_holder_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        355.55555555555554,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        355.55555555555554,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 83.97442499163331,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.9530968184169706,
+      -2.2183688989298362,
+      -0.10499987381883069
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
+        0.8191520331270514,
+        -8.039232568535226e-08,
+        -0.5735764522919431
+       ],
+       [
+        0.5735764522919431,
+        -2.5347603738179458e-08,
+        0.819152033127055
+       ]
+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        320.0,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        320.0,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 90.0,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.882622897265527,
+      -2.0782986740222573,
+      -0.029999878600769154
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.54189,
+       -2.53448,
+       0.06
+      ],
+      "ori": [
+       0.851464569568634,
+       0.0,
+       0.0,
+       0.5244120955467224
+      ]
+     },
+     "facing_yaw_deg": 63.25734783705835,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 999.4869,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is to the left of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[cap][pen holder]\n\n\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N023",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0640": {
+    "frame_idx": 640,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the left of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0648": {
+    "frame_idx": 648,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0685": {
+    "frame_idx": 685,
+    "caption": "Working on the small cap; the right gripper is below and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0766": {
+    "frame_idx": 766,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0800": {
+    "frame_idx": 800,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1031": {
+    "frame_idx": 1031,
+    "caption": "Done — the small cap is grasped; the right gripper is below and to the right of the cap.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "ParallelGripper",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1032": {
+    "frame_idx": 1032,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:start",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1063": {
+    "frame_idx": 1063,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pull",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1142": {
+    "frame_idx": 1142,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1208": {
+    "frame_idx": 1208,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "behind"
+    ]
+   },
+   "frame_1211": {
+    "frame_idx": 1211,
+    "caption": "Working on the small cap; the right gripper is below and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "behind"
+    ]
+   },
+   "frame_1277": {
+    "frame_idx": 1277,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_1321": {
+    "frame_idx": 1321,
+    "caption": "Working on the small cap; the right gripper is below and to the left of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_1354": {
+    "frame_idx": 1354,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1396": {
+    "frame_idx": 1396,
+    "caption": "Working on the small cap; the right gripper is below and to the left of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:over_tail",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_1429": {
+    "frame_idx": 1429,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:over_tail",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,268 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 890,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                21
+            ],
+            "names": [
+                "object_pose.cap.0",
+                "object_pose.cap.1",
+                "object_pose.cap.2",
+                "object_pose.cap.3",
+                "object_pose.cap.4",
+                "object_pose.cap.5",
+                "object_pose.cap.6",
+                "object_pose.pen_holder.0",
+                "object_pose.pen_holder.1",
+                "object_pose.pen_holder.2",
+                "object_pose.pen_holder.3",
+                "object_pose.pen_holder.4",
+                "object_pose.pen_holder.5",
+                "object_pose.pen_holder.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"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                688
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 16:00:36"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/stats.json

@@ -0,0 +1,3517 @@
+{
+    "action": {
+        "mean": [
+            0.09549010597546113,
+            -0.0015427984590275904,
+            0.00969564857509437,
+            -2.2644339944539444,
+            0.7854940112052339,
+            0.9761783434433884,
+            0.4283897323901451,
+            0.28358958336744416,
+            0.4109627788368445,
+            -0.23120408011286447,
+            0.3898876404494382
+        ],
+        "std": [
+            0.1364952333620244,
+            0.008377546610895424,
+            0.06003928308674455,
+            0.4337128603800938,
+            1.0066933688078064,
+            0.27692520701209616,
+            0.17333634766764014,
+            0.43016100228854465,
+            0.21526740358009594,
+            0.5022841386129321,
+            0.4877245823968789
+        ],
+        "min": [
+            0.0,
+            -0.06263568997383118,
+            -1.8835067749023438e-05,
+            -3.444037675857544,
+            -1.9822988510131836,
+            0.6815004944801331,
+            -0.4282236695289612,
+            -0.6145668625831604,
+            -0.6208251118659973,
+            -0.7575843930244446,
+            0.0
+        ],
+        "max": [
+            0.30000001192092896,
+            0.00799474772065878,
+            0.6329848766326904,
+            -1.7409336566925049,
+            1.4891942739486694,
+            1.3033636808395386,
+            0.6421477198600769,
+            0.680044949054718,
+            0.6251362562179565,
+            0.7578062415122986,
+            1.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "action_is_hold": {
+        "mean": [
+            0.021348314606741574,
+            0.021348314606741574,
+            0.021348314606741574,
+            0.09213483146067415,
+            0.09213483146067415,
+            0.09213483146067415,
+            0.09213483146067415,
+            0.09213483146067415,
+            0.09213483146067415,
+            0.09213483146067415,
+            0.7932584269662921
+        ],
+        "std": [
+            0.14454260295910462,
+            0.14454260295910462,
+            0.14454260295910462,
+            0.28921618954060524,
+            0.28921618954060524,
+            0.28921618954060524,
+            0.28921618954060524,
+            0.28921618954060524,
+            0.28921618954060524,
+            0.28921618954060524,
+            0.4049685111379106
+        ],
+        "min": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "observation.state": {
+        "mean": [
+            -0.7013476299435905,
+            -2.483921754494142,
+            1.3447913210043747,
+            0.031647241192980714,
+            -9.261092517334725e-09,
+            -1.1967695718400935,
+            -0.1935220260597575,
+            1.0413022247927912,
+            0.14546383432823523,
+            1.967221847277009,
+            0.8303657306100642,
+            0.01142588269721552,
+            -0.013100365821001339,
+            -0.013100365821001339,
+            -0.01142588269721552
+        ],
+        "std": [
+            0.9849213945751997,
+            0.01671665029361194,
+            0.15306841300807775,
+            0.12384827140750726,
+            1.6643232105892977e-05,
+            0.36127764970554016,
+            0.34985052812122036,
+            0.46838623813745817,
+            0.4376003109460025,
+            0.6541645780650197,
+            0.9835399635755829,
+            0.008893138710011222,
+            0.010025031942100032,
+            0.010025031942100032,
+            0.008893138710011222
+        ],
+        "min": [
+            -3.5418899059295654,
+            -2.534480094909668,
+            1.1040489673614502,
+            -0.2341006100177765,
+            -0.00010913349251495674,
+            -1.6101351976394653,
+            -0.7979728579521179,
+            0.49116581678390503,
+            -0.418670117855072,
+            1.1480886936187744,
+            -0.05345619469881058,
+            0.0,
+            -0.020833000540733337,
+            -0.020833000540733337,
+            -0.020833000540733337
+        ],
+        "max": [
+            -0.14249634742736816,
+            -2.4363882541656494,
+            1.4581151008605957,
+            0.3259296715259552,
+            0.00033219062606804073,
+            -0.6850391030311584,
+            0.3301445245742798,
+            1.6673755645751953,
+            0.9443271160125732,
+            2.7046289443969727,
+            2.59574031829834,
+            0.020833000540733337,
+            0.0,
+            0.0,
+            -0.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "observation.joint_vel": {
+        "mean": [
+            0.09549286158702229,
+            0.0014295275703339304,
+            0.010212382654105302,
+            -0.002058956388851892,
+            -0.0003226353092699197,
+            0.02439201493192692,
+            -0.021624749158926985,
+            0.02920930512059462,
+            0.02672213511310893,
+            -0.03758134312298976,
+            0.06345589365101974,
+            -0.0029661403534407636,
+            0.0008953376187783267
+        ],
+        "std": [
+            0.13643831076227875,
+            0.008606825872953092,
+            0.06220829747116624,
+            0.07746569123238432,
+            0.0009421920258860065,
+            0.05953217122055054,
+            0.08388825523777142,
+            0.08970393776996657,
+            0.11987520538052007,
+            0.11485641329012473,
+            0.15178583038448595,
+            0.009255559154410441,
+            0.008800331305846268
+        ],
+        "min": [
+            -9.771988698048517e-05,
+            -0.04992331936955452,
+            -0.00023795846209395677,
+            -0.21960265934467316,
+            -0.02035931497812271,
+            -0.13651658594608307,
+            -0.19066087901592255,
+            -0.1836872100830078,
+            -0.3258020877838135,
+            -0.32304292917251587,
+            -0.22582796216011047,
+            -0.03757303208112717,
+            -0.10011444240808487
+        ],
+        "max": [
+            0.3017227053642273,
+            0.014594023115932941,
+            0.6516008973121643,
+            0.17246456444263458,
+            0.002278486965224147,
+            0.16672201454639435,
+            0.1944483071565628,
+            0.19299207627773285,
+            0.32794076204299927,
+            0.2490973323583603,
+            0.41582271456718445,
+            0.10001680254936218,
+            0.0441715270280838
+        ],
+        "count": [
+            890
+        ]
+    },
+    "observation.eef_pose": {
+        "mean": [
+            -2.26394653387284,
+            0.7829238053869059,
+            0.9797557962744423,
+            0.21901280306949375,
+            0.5079870594351479,
+            0.08933620317263549,
+            -0.5482938170098187
+        ],
+        "std": [
+            0.43380290818028955,
+            1.0055535258038237,
+            0.27751358449943203,
+            0.40973562195992164,
+            0.09019366851288455,
+            0.4521828902208333,
+            0.06991306560228194
+        ],
+        "min": [
+            -3.4452710151672363,
+            -1.9822988510131836,
+            0.6816628575325012,
+            -0.429012656211853,
+            0.3670169413089752,
+            -0.6215820908546448,
+            -0.7649496793746948
+        ],
+        "max": [
+            -1.7413785457611084,
+            1.4858964681625366,
+            1.3055384159088135,
+            0.6449066400527954,
+            0.6701997518539429,
+            0.5090791583061218,
+            -0.4265938997268677
+        ],
+        "count": [
+            890
+        ]
+    },
+    "observation.environment_state": {
+        "mean": [
+            -2.0449534311723174,
+            1.4099668181344365,
+            0.4947570274720031,
+            0.6758822756196802,
+            0.00044986465213211243,
+            -0.0014678051250521758,
+            0.24217390680497283,
+            -1.9866299629211426,
+            1.4031200408935547,
+            0.47999998927116394,
+            0.9980136752128601,
+            0.0,
+            0.0,
+            -0.06299765408039093,
+            -2.0,
+            1.5,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            0.07764224668863498,
+            0.009956497936794982,
+            0.02573187497882565,
+            0.4808309578512488,
+            0.017998679315310052,
+            0.026902601818442756,
+            0.5022812739475426,
+            0.0,
+            0.0,
+            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": [
+            -2.1351287364959717,
+            1.3826619386672974,
+            0.4783988893032074,
+            -0.6982730627059937,
+            -0.05405758321285248,
+            -0.09438721090555191,
+            -0.6966179609298706,
+            -1.9866299629211426,
+            1.4031200408935547,
+            0.47999998927116394,
+            0.9980136752128601,
+            0.0,
+            0.0,
+            -0.06299765408039093,
+            -2.0,
+            1.5,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            -1.8311436176300049,
+            1.4251165390014648,
+            0.545379102230072,
+            0.9981452226638794,
+            0.06696433573961258,
+            0.09373508393764496,
+            0.998645007610321,
+            -1.9866299629211426,
+            1.4031200408935547,
+            0.47999998927116394,
+            0.9980136752128601,
+            0.0,
+            0.0,
+            -0.06299765408039093,
+            -2.0,
+            1.5,
+            0.23000000417232513,
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "action.command": {
+        "mean": [
+            -3.541962146759033,
+            -2.534411907196045,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.18811881188118812,
+            -2.2924720051855143,
+            0.725056556818804,
+            1.0004430206695405,
+            0.4222631442309,
+            0.3007197704276826,
+            0.4016912460083944,
+            -0.25777507713525605,
+            0.16304347826086957,
+            -3.509053945541382,
+            -2.4635872840881348,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.503821849822998,
+            -2.452326774597168,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.4224026203155518,
+            -2.2770962715148926,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.4216532707214355,
+            -2.2754836082458496,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.4127657413482666,
+            -2.2563562393188477,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.34627103805542,
+            -2.113245964050293,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.3406572341918945,
+            -2.101163625717163,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.2732653617858887,
+            -1.9561229944229126,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.2587599754333496,
+            -1.924904465675354,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.200834035873413,
+            -1.8002362251281738,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.177867889404297,
+            -1.7508084774017334,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.128403663635254,
+            -1.6443517208099365,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.097167730331421,
+            -1.577125906944275,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.0559732913970947,
+            -1.4884673357009888,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -3.0168566703796387,
+            -1.4042803049087524,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.9835431575775146,
+            -1.3325828313827515,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.9366843700408936,
+            -1.2317334413528442,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.9111127853393555,
+            -1.1766983270645142,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.8562188148498535,
+            -1.0585553646087646,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.8386826515197754,
+            -1.0208138227462769,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.7762610912323,
+            -0.886469841003418,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.7662525177001953,
+            -0.86492919921875,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.6955809593200684,
+            -0.7128300666809082,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.693822145462036,
+            -0.7090446352958679,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.676581859588623,
+            -0.6719399094581604,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.621391773223877,
+            -0.5531600117683411,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.6157612800598145,
+            -0.541041910648346,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.5489614009857178,
+            -0.3972754180431366,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.5351338386535645,
+            -0.36751580238342285,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.4765310287475586,
+            -0.24139083921909332,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.4551234245300293,
+            -0.1953173577785492,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.4041006565093994,
+            -0.08550628274679184,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.37460994720459,
+            -0.02203620970249176,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.331329584121704,
+            0.07111206650733948,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.2942140102386475,
+            0.15099231898784637,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.257228136062622,
+            0.23059311509132385,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.2141807079315186,
+            0.32323983311653137,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.180253267288208,
+            0.3962586224079132,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.1354472637176514,
+            0.49268996715545654,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.0995137691497803,
+            0.5700262188911438,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.057725429534912,
+            0.659963071346283,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0,
+            -2.0,
+            0.6000000238418579,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -2.680036663264036,
+            -0.30873683420941234,
+            1.3033587373793125,
+            0.4375839657150209,
+            0.5497731059789658,
+            0.4279685483314097,
+            -0.5680479804053903,
+            0.0
+        ],
+        "std": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.467218499235058,
+            0.44235662015499266,
+            1.037185034899642,
+            0.2739387389254069,
+            0.17977720318129534,
+            0.4208987807828671,
+            0.220518772350234,
+            0.4953315919698412,
+            0.3694053362601398,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.453298987522691,
+            0.969367380860561,
+            5.9488115544137774e-08,
+            0.011357965969139875,
+            0.009488834490783204,
+            0.010987855952422418,
+            0.009708324089415014,
+            0.0
+        ],
+        "min": [
+            -3.541962146759033,
+            -2.534411907196045,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            -1.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            0.6815004944801331,
+            -0.4282236695289612,
+            -0.6145668625831604,
+            -0.6208251118659973,
+            -0.7575843930244446,
+            0.0,
+            -3.509053945541382,
+            -2.4635872840881348,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.503821849822998,
+            -2.452326774597168,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.4224026203155518,
+            -2.2770962715148926,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.4216532707214355,
+            -2.2754836082458496,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.4127657413482666,
+            -2.2563562393188477,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.34627103805542,
+            -2.113245964050293,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.3406572341918945,
+            -2.101163625717163,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.2732653617858887,
+            -1.9561229944229126,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.2587599754333496,
+            -1.924904465675354,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.200834035873413,
+            -1.8002362251281738,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.177867889404297,
+            -1.7508084774017334,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.128403663635254,
+            -1.6443517208099365,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.097167730331421,
+            -1.577125906944275,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.0559732913970947,
+            -1.4884673357009888,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -3.0168566703796387,
+            -1.4042803049087524,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.9835431575775146,
+            -1.3325828313827515,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.9366843700408936,
+            -1.2317334413528442,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.9111127853393555,
+            -1.1766983270645142,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.8562188148498535,
+            -1.0585553646087646,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.8386826515197754,
+            -1.0208138227462769,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.7762610912323,
+            -0.886469841003418,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.7662525177001953,
+            -0.86492919921875,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.6955809593200684,
+            -0.7128300666809082,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.693822145462036,
+            -0.7090446352958679,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.676581859588623,
+            -0.6719399094581604,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.621391773223877,
+            -0.5531600117683411,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.6157612800598145,
+            -0.541041910648346,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.5489614009857178,
+            -0.3972754180431366,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.5351338386535645,
+            -0.36751580238342285,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.4765310287475586,
+            -0.24139083921909332,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.4551234245300293,
+            -0.1953173577785492,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.4041006565093994,
+            -0.08550628274679184,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.37460994720459,
+            -0.02203620970249176,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.331329584121704,
+            0.07111206650733948,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.2942140102386475,
+            0.15099231898784637,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.257228136062622,
+            0.23059311509132385,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.2141807079315186,
+            0.32323983311653137,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.180253267288208,
+            0.3962586224079132,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.1354472637176514,
+            0.49268996715545654,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.0995137691497803,
+            0.5700262188911438,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.057725429534912,
+            0.659963071346283,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0,
+            -2.0,
+            0.6000000238418579,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -3.444037675857544,
+            -1.9822988510131836,
+            1.3033586740493774,
+            0.42646166682243347,
+            0.48768332600593567,
+            0.4172041714191437,
+            -0.5766384601593018,
+            0.0
+        ],
+        "max": [
+            -3.541962146759033,
+            -2.534411907196045,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.7409336566925049,
+            1.4891942739486694,
+            1.3033636808395386,
+            0.6421477198600769,
+            0.680044949054718,
+            0.6251362562179565,
+            0.7578062415122986,
+            1.0,
+            -3.509053945541382,
+            -2.4635872840881348,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.503821849822998,
+            -2.452326774597168,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.4224026203155518,
+            -2.2770962715148926,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.4216532707214355,
+            -2.2754836082458496,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.4127657413482666,
+            -2.2563562393188477,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.34627103805542,
+            -2.113245964050293,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.3406572341918945,
+            -2.101163625717163,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.2732653617858887,
+            -1.9561229944229126,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.2587599754333496,
+            -1.924904465675354,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.200834035873413,
+            -1.8002362251281738,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.177867889404297,
+            -1.7508084774017334,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.128403663635254,
+            -1.6443517208099365,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.097167730331421,
+            -1.577125906944275,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.0559732913970947,
+            -1.4884673357009888,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -3.0168566703796387,
+            -1.4042803049087524,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.9835431575775146,
+            -1.3325828313827515,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.9366843700408936,
+            -1.2317334413528442,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.9111127853393555,
+            -1.1766983270645142,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.8562188148498535,
+            -1.0585553646087646,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.8386826515197754,
+            -1.0208138227462769,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.7762610912323,
+            -0.886469841003418,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.7662525177001953,
+            -0.86492919921875,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.6955809593200684,
+            -0.7128300666809082,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.693822145462036,
+            -0.7090446352958679,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.676581859588623,
+            -0.6719399094581604,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.621391773223877,
+            -0.5531600117683411,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.6157612800598145,
+            -0.541041910648346,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.5489614009857178,
+            -0.3972754180431366,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.5351338386535645,
+            -0.36751580238342285,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.4765310287475586,
+            -0.24139083921909332,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.4551234245300293,
+            -0.1953173577785492,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.4041006565093994,
+            -0.08550628274679184,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.37460994720459,
+            -0.02203620970249176,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.331329584121704,
+            0.07111206650733948,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.2942140102386475,
+            0.15099231898784637,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.257228136062622,
+            0.23059311509132385,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.2141807079315186,
+            0.32323983311653137,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.180253267288208,
+            0.3962586224079132,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.1354472637176514,
+            0.49268996715545654,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.0995137691497803,
+            0.5700262188911438,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.057725429534912,
+            0.659963071346283,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0,
+            -2.0,
+            0.6000000238418579,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            -1.9786930084228516,
+            1.0850144624710083,
+            1.303358793258667,
+            0.5097547769546509,
+            0.5581746697425842,
+            0.49777841567993164,
+            -0.5045111775398254,
+            0.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "action.applied": {
+        "mean": [
+            0.09549010597546113,
+            -0.0015427984590275904,
+            0.00969564857509437,
+            0.031559627717157826,
+            -1.1952359854505303,
+            -0.19495361207750342,
+            1.0432388131872992,
+            0.14698489153677838,
+            1.9645968912692553,
+            0.8347187036990952,
+            0.0011572226902909493,
+            -0.0011572226902909493
+        ],
+        "std": [
+            0.1364952333620244,
+            0.008377546610895424,
+            0.06003928308674455,
+            0.12395774850945716,
+            0.3613094330615077,
+            0.3504856005814936,
+            0.46828457769152293,
+            0.43838759099075875,
+            0.6540435503722468,
+            0.9850159255121058,
+            0.011957562933441876,
+            0.011957562933441876
+        ],
+        "min": [
+            0.0,
+            -0.06263568997383118,
+            -1.8835067749023438e-05,
+            -0.233884796500206,
+            -1.6050612926483154,
+            -0.8001226186752319,
+            0.4887586236000061,
+            -0.4187149107456207,
+            1.139329195022583,
+            -0.0562528520822525,
+            -0.009999999776482582,
+            -0.020833000540733337
+        ],
+        "max": [
+            0.30000001192092896,
+            0.00799474772065878,
+            0.6329848766326904,
+            0.3249698877334595,
+            -0.6846351027488708,
+            0.33321213722229004,
+            1.668174147605896,
+            0.9459882974624634,
+            2.7060701847076416,
+            2.6008520126342773,
+            0.020833000540733337,
+            0.009999999776482582
+        ],
+        "count": [
+            890
+        ]
+    },
+    "extra.reward": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "next.truncated": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "sim_step_idx": {
+        "mean": [
+            920.0
+        ],
+        "std": [
+            513.8414152245807
+        ],
+        "min": [
+            31.0
+        ],
+        "max": [
+            1809.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            17.78000000512667
+        ],
+        "std": [
+            10.276828310020939
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            35.560001373291016
+        ],
+        "count": [
+            890
+        ]
+    },
+    "frame_index": {
+        "mean": [
+            444.5
+        ],
+        "std": [
+            256.92070761229036
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            889.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "episode_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "index": {
+        "mean": [
+            444.5
+        ],
+        "std": [
+            256.92070761229036
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            889.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "task_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "next.done": {
+        "mean": [
+            0.0011235955056179776
+        ],
+        "std": [
+            0.033501239361518144
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1.0
+        ],
+        "count": [
+            890
+        ]
+    },
+    "observation.images.head": {
+        "mean": [
+            [
+                [
+                    0.5673464426283145
+                ]
+            ],
+            [
+                [
+                    0.4898187792193437
+                ]
+            ],
+            [
+                [
+                    0.4419950039562314
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.13889644536849655
+                ]
+            ],
+            [
+                [
+                    0.1820774453406296
+                ]
+            ],
+            [
+                [
+                    0.17555375555480096
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.9137254901960784
+                ]
+            ],
+            [
+                [
+                    0.8549019607843137
+                ]
+            ],
+            [
+                [
+                    0.8745098039215686
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    },
+    "observation.images.wrist": {
+        "mean": [
+            [
+                [
+                    0.5939338330865892
+                ]
+            ],
+            [
+                [
+                    0.5094875293212211
+                ]
+            ],
+            [
+                [
+                    0.43565869343364977
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.15591438135710395
+                ]
+            ],
+            [
+                [
+                    0.2017293712930542
+                ]
+            ],
+            [
+                [
+                    0.21184498674416347
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.8941176470588236
+                ]
+            ],
+            [
+                [
+                    0.8784313725490196
+                ]
+            ],
+            [
+                [
+                    0.9215686274509803
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    }
+}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen."}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb2575132843dff361258e3c90c9b9f546159cb422f2fb0bb83af95df581cd40
+size 8891901

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d37bd08485f543d6e9275d0cd7b81ce59090312de47b1267ff852b8087586526
+size 14683293

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/run_meta.json

@@ -0,0 +1,786 @@
+{
+    "run_id": "stationassembly/000",
+    "created": "2026-11-09 15:52:56",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n023_saw_off_1003/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MobilePenCapEnv-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 1003,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 14
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.54189,
+                                -2.53448,
+                                0.06
+                            ],
+                            [
+                                -3.54189,
+                                -2.53448,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                63.25735
+                            ],
+                            [
+                                0,
+                                0,
+                                63.25735
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "dummy_base_.*": 0.0,
+                            "head_pan": 0.0,
+                            "right_j0": 0.0,
+                            "right_j1": -1.6,
+                            "right_j2": 0.0,
+                            "right_j3": 0.5,
+                            "right_j4": 0.0,
+                            "right_j5": 2.7,
+                            "right_j6": 0.0,
+                            "right_gripper_l_finger_joint": 0.0,
+                            "right_gripper_r_finger_joint": 0.0
+                        }
+                    },
+                    "action": {
+                        "base_action": "holonomic_action",
+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_max_goalset": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 20.0,
+                            "relative_to_world_frame": false
+                        },
+                        "motiongen": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "max_attempts": 6,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 20.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "start_state_limit_inset": 0.002,
+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 8.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "goal_cost_mode": "path",
+                                "dilate_radius": 0.36,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.38,
+                                "scan_min_z": 0.15,
+                                "scan_max_z": 1.68,
+                                "goal_pos_threshold": 0.1,
+                                "goal_yaw_threshold": 0.08,
+                                "kp_goal_yaw": 1.5,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "goal_yaw_hysteresis": 0.02,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 1.0,
+                                "kp_linear_x": 3.0,
+                                "kp_linear_y": 3.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 1.0,
+                                "kd_linear_y": 1.0,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05,
+                                "nav_heading_target": -1,
+                                "nav_upgrade_distance": 0.03
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.66,
+                        "wheel_base": 0.01
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
+                        "pos": [
+                            0.2166,
+                            0.0,
+                            -0.045
+                        ],
+                        "ori": [
+                            -0.0,
+                            35.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "background": {
+                    "intensity": [
+                        999.4869,
+                        999.4869
+                    ]
+                },
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "objects": {
+                    "table_A": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.0,
+                                1.5,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_A_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.78,
+                                    0.72,
+                                    0.62
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "pen_holder": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/pen_holder_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -1.98663,
+                                1.40312,
+                                0.48
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -7.22378
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "pen_holder_1": {
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "cap": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/cap_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.07145,
+                                1.41387,
+                                0.48
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -7.22378
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "cap_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "mass": 0.0183,
+                                "physics_material": {
+                                    "static_friction": 0.6,
+                                    "dynamic_friction": 0.5,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 150,
+                    "min_agent_radius_cm": 45.0,
+                    "max_agent_radius_cm": 45.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": false
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "level": "easy",
+            "termination": {
+                "timeout_steps": 9000,
+                "success_hold_frames": 1
+            },
+            "station": {
+                "S": {
+                    "pose": [
+                        -3.6,
+                        -2.5,
+                        60.0
+                    ]
+                },
+                "A": {
+                    "center": [
+                        -2.0,
+                        0.6
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_A"
+                }
+            },
+            "stance": {
+                "radii_A": [
+                    0.72,
+                    0.8,
+                    0.66,
+                    0.9
+                ],
+                "radii_B": [
+                    0.72,
+                    0.8,
+                    0.66,
+                    0.9
+                ],
+                "bearings_deg": [
+                    0.0,
+                    -25.0,
+                    25.0
+                ],
+                "yaw_offsets_deg": [
+                    0.0
+                ],
+                "include_current": true
+            },
+            "assembly": {
+                "part": {
+                    "name": "cap",
+                    "id": 0
+                },
+                "fixture": {
+                    "name": "pen_holder",
+                    "id": 0
+                },
+                "support_z": 0.43,
+                "part_half_height": 0.0175,
+                "lift_height": 0.03,
+                "carry_lost": 0.25,
+                "hold_steps": 30,
+                "release_clear": 0.06,
+                "fixture_move_limit": 0.01,
+                "fall_margin": 0.12,
+                "axis_max_deg": 8.0,
+                "lateral_max": 0.003,
+                "seat_tol_in": 0.004,
+                "seat_tol_out": 0.002,
+                "pull": 0.06,
+                "lift": 0.06,
+                "over_x": 0.155,
+                "push_extra": 0.002,
+                "umi": {
+                    "table_clearance": 0.01,
+                    "min_approach_down_deg": 65.0,
+                    "max_approach_down_deg": 90.0,
+                    "max_candidates": 64
+                }
+            },
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "cap",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "pen_holder",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp",
+                            "skip_retrieval": true
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "cap",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "pen_holder",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp",
+                            "skip_retrieval": true
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.15,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 20,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "AssemblyServoL": {
+                    "translation_threshold": 0.0003,
+                    "rotation_threshold": 0.005,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1000000,
+                    "min_steps_before_done": 1000000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.03,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.03,
+                    "timeout_steps": 300,
+                    "stride": 1,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.12,
+                    "waypoint_max_steps": 20,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "HoldPose": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                },
+                "NavTo": {
+                    "robot_id": 0,
+                    "position_offset": 0.85,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06
+                },
+                "ReachStance": {
+                    "check_current_first": true,
+                    "stance_margin": 0.03,
+                    "max_reach": 1.0,
+                    "max_walks": 2,
+                    "reject_radius": 0.05,
+                    "obstacle_avoidance": [
+                        "dynamic"
+                    ],
+                    "walk_planner": "MobileServoL",
+                    "strategy_kwargs": {
+                        "reach_steps": 2
+                    },
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "goalset_lock_base": true,
+                    "debug": true
+                },
+                "AssemblyGrasp": {
+                    "pre_grasp_offset_x": 0.12,
+                    "retrieval_offset_x": 0.15,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "goalset_lock_base": true,
+                    "reactive": false,
+                    "viz_grasp": false,
+                    "close_settle_steps": 10,
+                    "obstacle_ignore": [
+                        "pen_holder"
+                    ]
+                },
+                "CarryPose": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "carry_part_pos": [
+                        0.62,
+                        0.0,
+                        0.5
+                    ],
+                    "planner_mode": 1
+                },
+                "AssemblyInsert": {
+                    "plan_mode": 1,
+                    "max_lin": 0.002,
+                    "max_rot_deg": 1.0,
+                    "settle_ticks": 3,
+                    "servo_max_steps": 600,
+                    "lateral_gate": 0.002,
+                    "stall_ticks": 60,
+                    "stall_min_progress": 0.8,
+                    "carry_lost": 0.25,
+                    "open_value": 0.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "assembly",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n023_saw_off_1003/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "cap",
+                "pen_holder"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03c52d18a191f02ed9897301e9010181a0a24614fb8242aa0d31210b5bafd2c6
+size 226088

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,269 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationassembly/000",
+    "task_type": "StationAssembly",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -2.0,
+                                    1.5,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "pen_holder": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/Assets/Object/MobileAssembly/pen_holder_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -1.98663,
+                                    1.40312,
+                                    0.48
+                                ],
+                                "ori": [
+                                    0.9980136752128601,
+                                    0.0,
+                                    0.0,
+                                    -0.06299763172864914
+                                ],
+                                "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": {}
+                        }
+                    ],
+                    "cap": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/Assets/Object/MobileAssembly/cap_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.0714502334594727,
+                                    1.4138681888580322,
+                                    0.47890183329582214
+                                ],
+                                "ori": [
+                                    0.9980093240737915,
+                                    -0.0019325613975524902,
+                                    0.00011598505079746246,
+                                    -0.06303619593381882
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.0183,
+                                    "physics_material": {
+                                        "static_friction": 0.6,
+                                        "dynamic_friction": 0.5,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -0.00015116938448045403,
+                                    -0.0007732481462880969,
+                                    -3.2526542781852186e-05
+                                ],
+                                "angular_velocity": [
+                                    -0.055039867758750916,
+                                    0.014286408200860023,
+                                    0.0022764166351407766
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 999.4869,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "RidgebackSawyerUmi": {
+                "root_pose": [
+                    [
+                        -3.5418899059295654,
+                        -2.534480094909668,
+                        0.05999999865889549,
+                        0.851464569568634,
+                        0.0,
+                        0.0,
+                        0.5244120955467224
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        -1.600000023841858,
+                        0.0,
+                        0.5,
+                        0.0,
+                        2.700000047683716,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.21660000085830688,
+                        0.0,
+                        -0.04500000178813934,
+                        -0.6743797063827515,
+                        0.21263112127780914,
+                        -0.21263112127780914,
+                        0.6743797659873962
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.05979999899864197,
+                        0.0,
+                        0.029999999329447746,
+                        6.123234262925839e-17,
+                        0.7071067690849304,
+                        0.7071067690849304,
+                        -4.329780301713277e-17
+                    ]
+                ]
+            }
+        }
+    }
+}

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c1e7d6d5f0038874d067e9fde70ef5a1c3f42fadb371768435fa7f57880cd62
+size 237524

N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 16:00:49"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N023/stretch3/dr_off/seed_1004/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2136 rows vs ceil(4271/2) = 2136"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..4301, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "15.98 MB, 2136 frames at 25 fps, mean luma 107..147, std 16, new picture 2135x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2136 vs 2136"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "45.32 MB, 2136 frames at 25 fps, mean luma 123..157, std 38, new picture 2135x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2136 vs 2136"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N023/stretch3/dr_off/seed_1004/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n023_str_off_1004/out  task=N023  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n023_str_off_1004/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2136  videos 2  robot_type HelloRobotCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 2136 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'
+rows 2136 at dataset fps 25 = 85.44 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2136 rows vs ceil(4271/2) = 2136
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4301, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 15.98 MB, 2136 frames at 25 fps, mean luma 107..147, std 16, new picture 2135x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2136 vs 2136
+[PASS] video observation.images.wrist decodes, 640x480, not black: 45.32 MB, 2136 frames at 25 fps, mean luma 123..157, std 38, new picture 2135x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2136 vs 2136
+parquet size 2.10 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 63.60 MB; whole cell dir 64.7 MB
+RESULT: ALL PASS

N023/stretch3/dr_off/seed_1004/report.json

@@ -0,0 +1,2682 @@
+{
+  "task": "N023",
+  "agent_id": null,
+  "embodiment": "stretch3",
+  "level": "easy",
+  "scene_seed": 1004,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/src/magicsim/Collect/Task/MobileAssembly/Conf/n023_pen_cap.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1004,
+    "pen_cap": {
+      "dx": -0.02466,
+      "dy": -0.04101,
+      "yaw_deg": 2.82466
+    },
+    "cap_mass": 0.01997,
+    "light": 1059.94733,
+    "spawn": {
+      "dx": 0.0232,
+      "dy": 0.00617,
+      "yaw_deg": 13.38128
+    },
+    "overrides": {
+      "env.scene.objects.pen_holder.common.pos": [
+        -2.02466,
+        1.30899,
+        0.48
+      ],
+      "env.scene.objects.pen_holder.common.ori": [
+        0.0,
+        0.0,
+        2.82466
+      ],
+      "env.scene.objects.cap.common.pos": [
+        -2.11006,
+        1.30478,
+        0.48
+      ],
+      "env.scene.objects.cap.common.ori": [
+        0.0,
+        0.0,
+        2.82466
+      ],
+      "env.scene.objects.cap.cap_1.physics.mass": 0.01997,
+      "env.scene.background.intensity": [
+        1059.94733,
+        1059.94733
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.5768,
+          -2.49383,
+          0.06
+        ],
+        [
+          -3.5768,
+          -2.49383,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          73.38128
+        ],
+        [
+          0,
+          0,
+          73.38128
+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N023",
+    "robot": "stretch3",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N023",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/base_link",
+        "pos": [
+          0.049771,
+          -0.002942,
+          1.295723
+        ],
+        "ori": [
+          0.0002,
+          -55.623,
+          -90.0
+        ],
+        "focal_length": 2.73834228515625,
+        "horizontal_aperture": 2.1600000858306885,
+        "vertical_aperture": 1.62
+      },
+      "wrist": {
+        "link": "Robot_0/link_gripper_s3_body",
+        "pos": [
+          0.009,
+          0.062939,
+          0.056398
+        ],
+        "ori": [
+          -170.0021,
+          0.0,
+          -179.9998
+        ],
+        "focal_length": 1.280753493309021,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.44
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 4301,
+  "task_id": "N023",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "cap_transfer",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
+  "station_layout": {
+    "S": {
+      "pose": [
+        -3.6,
+        -2.5,
+        60.0
+      ]
+    },
+    "A": {
+      "center": [
+        -2.0,
+        0.6
+      ],
+      "zone_radius": 0.6,
+      "table": "table_A"
+    }
+  },
+  "spawn_pose": [
+    -3.5768001079559326,
+    -2.4938299655914307,
+    1.2807450187863676
+  ],
+  "base_path": [
+    [
+      -2.873,
+      -0.992,
+      1.134
+    ],
+    [
+      -2.848,
+      -0.938,
+      1.134
+    ],
+    [
+      -2.823,
+      -0.884,
+      1.134
+    ],
+    [
+      -2.797,
+      -0.829,
+      1.135
+    ],
+    [
+      -2.772,
+      -0.775,
+      1.135
+    ],
+    [
+      -2.747,
+      -0.72,
+      1.135
+    ],
+    [
+      -2.721,
+      -0.666,
+      1.135
+    ],
+    [
+      -2.696,
+      -0.612,
+      1.135
+    ],
+    [
+      -2.671,
+      -0.557,
+      1.134
+    ],
+    [
+      -2.645,
+      -0.503,
+      1.134
+    ],
+    [
+      -2.62,
+      -0.449,
+      1.134
+    ],
+    [
+      -2.594,
+      -0.394,
+      1.134
+    ],
+    [
+      -2.569,
+      -0.34,
+      1.134
+    ],
+    [
+      -2.544,
+      -0.285,
+      1.134
+    ],
+    [
+      -2.518,
+      -0.231,
+      1.134
+    ],
+    [
+      -2.493,
+      -0.177,
+      1.134
+    ],
+    [
+      -2.467,
+      -0.122,
+      1.133
+    ],
+    [
+      -2.442,
+      -0.068,
+      1.133
+    ],
+    [
+      -2.417,
+      -0.014,
+      1.133
+    ],
+    [
+      -2.391,
+      0.041,
+      1.133
+    ],
+    [
+      -2.366,
+      0.095,
+      1.133
+    ],
+    [
+      -2.34,
+      0.149,
+      1.133
+    ],
+    [
+      -2.315,
+      0.204,
+      1.133
+    ],
+    [
+      -2.29,
+      0.258,
+      1.133
+    ],
+    [
+      -2.264,
+      0.312,
+      1.133
+    ],
+    [
+      -2.239,
+      0.367,
+      1.133
+    ],
+    [
+      -2.214,
+      0.421,
+      1.151
+    ],
+    [
+      -2.19,
+      0.476,
+      1.192
+    ],
+    [
+      -2.172,
+      0.525,
+      1.23
+    ],
+    [
+      -2.158,
+      0.567,
+      1.263
+    ],
+    [
+      -2.147,
+      0.602,
+      1.29
+    ],
+    [
+      -2.139,
+      0.632,
+      1.312
+    ],
+    [
+      -2.132,
+      0.658,
+      1.332
+    ],
+    [
+      -2.127,
+      0.68,
+      1.348
+    ],
+    [
+      -2.123,
+      0.698,
+      1.361
+    ],
+    [
+      -2.12,
+      0.714,
+      1.373
+    ],
+    [
+      -2.117,
+      0.727,
+      1.383
+    ],
+    [
+      -2.115,
+      0.738,
+      1.392
+    ],
+    [
+      -2.114,
+      0.747,
+      1.399
+    ],
+    [
+      -2.112,
+      0.755,
+      1.405
+    ],
+    [
+      -2.111,
+      0.761,
+      1.441
+    ],
+    [
+      -2.111,
+      0.761,
+      1.601
+    ],
+    [
+      -2.111,
+      0.761,
+      1.761
+    ],
+    [
+      -2.111,
+      0.761,
+      1.921
+    ],
+    [
+      -2.111,
+      0.761,
+      2.081
+    ],
+    [
+      -2.111,
+      0.761,
+      2.241
+    ],
+    [
+      -2.111,
+      0.761,
+      2.401
+    ],
+    [
+      -2.111,
+      0.761,
+      2.561
+    ],
+    [
+      -2.111,
+      0.761,
+      2.718
+    ],
+    [
+      -2.111,
+      0.761,
+      2.842
+    ],
+    [
+      -2.111,
+      0.761,
+      2.934
+    ],
+    [
+      -2.111,
+      0.761,
+      3.001
+    ],
+    [
+      -2.111,
+      0.761,
+      3.051
+    ],
+    [
+      -2.111,
+      0.761,
+      3.088
+    ],
+    [
+      -2.111,
+      0.761,
+      3.115
+    ],
+    [
+      -2.111,
+      0.761,
+      3.121
+    ],
+    [
+      -2.111,
+      0.761,
+      3.071
+    ],
+    [
+      -2.111,
+      0.761,
+      3.021
+    ],
+    [
+      -2.111,
+      0.761,
+      2.971
+    ],
+    [
+      -2.111,
+      0.761,
+      2.921
+    ],
+    [
+      -2.111,
+      0.761,
+      2.871
+    ],
+    [
+      -2.111,
+      0.761,
+      2.821
+    ],
+    [
+      -2.111,
+      0.761,
+      2.772
+    ],
+    [
+      -2.111,
+      0.761,
+      2.722
+    ],
+    [
+      -2.111,
+      0.761,
+      2.672
+    ],
+    [
+      -2.111,
+      0.761,
+      2.622
+    ],
+    [
+      -2.111,
+      0.761,
+      2.572
+    ],
+    [
+      -2.111,
+      0.761,
+      2.522
+    ],
+    [
+      -2.111,
+      0.761,
+      2.472
+    ],
+    [
+      -2.111,
+      0.761,
+      2.422
+    ],
+    [
+      -2.111,
+      0.761,
+      2.372
+    ],
+    [
+      -2.111,
+      0.761,
+      2.322
+    ],
+    [
+      -2.111,
+      0.761,
+      2.272
+    ],
+    [
+      -2.111,
+      0.761,
+      2.222
+    ],
+    [
+      -2.111,
+      0.761,
+      2.172
+    ],
+    [
+      -2.111,
+      0.761,
+      2.122
+    ],
+    [
+      -2.111,
+      0.761,
+      2.072
+    ],
+    [
+      -2.111,
+      0.761,
+      2.022
+    ],
+    [
+      -2.111,
+      0.761,
+      1.972
+    ],
+    [
+      -2.111,
+      0.761,
+      1.922
+    ],
+    [
+      -2.111,
+      0.761,
+      1.872
+    ],
+    [
+      -2.111,
+      0.761,
+      1.822
+    ],
+    [
+      -2.111,
+      0.761,
+      1.772
+    ],
+    [
+      -2.111,
+      0.761,
+      1.722
+    ],
+    [
+      -2.111,
+      0.761,
+      1.672
+    ],
+    [
+      -2.111,
+      0.761,
+      1.622
+    ],
+    [
+      -2.111,
+      0.761,
+      1.572
+    ],
+    [
+      -2.111,
+      0.761,
+      1.533
+    ],
+    [
+      -2.111,
+      0.761,
+      1.505
+    ],
+    [
+      -2.111,
+      0.761,
+      1.485
+    ],
+    [
+      -2.11,
+      0.772,
+      1.483
+    ],
+    [
+      -2.11,
+      0.781,
+      1.483
+    ],
+    [
+      -2.109,
+      0.787,
+      1.483
+    ],
+    [
+      -2.109,
+      0.791,
+      1.483
+    ],
+    [
+      -2.109,
+      0.794,
+      1.483
+    ],
+    [
+      -2.108,
+      0.796,
+      1.483
+    ],
+    [
+      -2.108,
+      0.796,
+      1.553
+    ],
+    [
+      -2.108,
+      0.796,
+      1.623
+    ],
+    [
+      -2.108,
+      0.796,
+      1.693
+    ],
+    [
+      -2.108,
+      0.796,
+      1.763
+    ],
+    [
+      -2.108,
+      0.796,
+      1.833
+    ],
+    [
+      -2.108,
+      0.796,
+      1.903
+    ],
+    [
+      -2.108,
+      0.796,
+      1.973
+    ],
+    [
+      -2.108,
+      0.796,
+      2.043
+    ],
+    [
+      -2.108,
+      0.796,
+      2.113
+    ],
+    [
+      -2.108,
+      0.796,
+      2.183
+    ],
+    [
+      -2.108,
+      0.796,
+      2.253
+    ],
+    [
+      -2.108,
+      0.796,
+      2.323
+    ],
+    [
+      -2.108,
+      0.796,
+      2.393
+    ],
+    [
+      -2.108,
+      0.796,
+      2.463
+    ],
+    [
+      -2.108,
+      0.796,
+      2.533
+    ],
+    [
+      -2.108,
+      0.796,
+      2.603
+    ],
+    [
+      -2.108,
+      0.796,
+      2.673
+    ],
+    [
+      -2.108,
+      0.796,
+      2.743
+    ],
+    [
+      -2.108,
+      0.796,
+      2.813
+    ],
+    [
+      -2.108,
+      0.796,
+      2.883
+    ],
+    [
+      -2.108,
+      0.796,
+      2.953
+    ],
+    [
+      -2.108,
+      0.796,
+      3.019
+    ],
+    [
+      -2.108,
+      0.796,
+      3.068
+    ],
+    [
+      -2.108,
+      0.796,
+      3.103
+    ],
+    [
+      -2.108,
+      0.796,
+      3.128
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.137
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.124
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.115
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.109
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.104
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.101
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.098
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.097
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.095
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.094
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.094
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.108,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.107,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.112,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.129,
+      0.795,
+      -3.093
+    ],
+    [
+      -2.141,
+      0.794,
+      -3.093
+    ],
+    [
+      -2.149,
+      0.794,
+      -3.093
+    ],
+    [
+      -2.155,
+      0.794,
+      -3.093
+    ],
+    [
+      -2.159,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.161,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.163,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.165,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.165,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.166,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.166,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.167,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.167,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.167,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.167,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.167,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.167,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.167,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.167,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.167,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.168,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.169,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.17,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.171,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.171,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.172,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.172,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.172,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.172,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.172,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.173,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.174,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.174,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.174,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.174,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.174,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.174,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.174,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.174,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.174,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.173,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.173,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.172,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.162,
+      0.793,
+      -3.093
+    ],
+    [
+      -2.112,
+      0.796,
+      -3.093
+    ],
+    [
+      -2.062,
+      0.798,
+      -3.093
+    ],
+    [
+      -2.012,
+      0.801,
+      -3.093
+    ],
+    [
+      -1.969,
+      0.803,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.917,
+      0.805,
+      -3.093
+    ],
+    [
+      -1.903,
+      0.806,
+      -3.093
+    ],
+    [
+      -1.893,
+      0.806,
+      -3.093
+    ],
+    [
+      -1.886,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.881,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.878,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.876,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.874,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.873,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.872,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.872,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.871,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.871,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.871,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.871,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.87,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.87,
+      0.808,
+      -3.093
+    ],
+    [
+      -1.87,
+      0.808,
+      -3.093
+    ],
+    [
+      -1.87,
+      0.808,
+      -3.093
+    ],
+    [
+      -1.87,
+      0.808,
+      -3.093
+    ],
+    [
+      -1.87,
+      0.808,
+      -3.093
+    ],
+    [
+      -1.87,
+      0.808,
+      -3.093
+    ],
+    [
+      -1.869,
+      0.808,
+      -3.093
+    ],
+    [
+      -1.889,
+      0.807,
+      -3.093
+    ],
+    [
+      -1.904,
+      0.806,
+      -3.093
+    ],
+    [
+      -1.915,
+      0.805,
+      -3.093
+    ],
+    [
+      -1.922,
+      0.805,
+      -3.093
+    ],
+    [
+      -1.927,
+      0.805,
+      -3.093
+    ],
+    [
+      -1.931,
+      0.805,
+      -3.093
+    ],
+    [
+      -1.933,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.935,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.936,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.937,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.937,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ],
+    [
+      -1.938,
+      0.804,
+      -3.093
+    ]
+  ],
+  "stage_events": [
+    {
+      "step": 30,
+      "event": "stage_start",
+      "stage": "nav_A"
+    },
+    {
+      "step": 30,
+      "event": "nav_heading_from_fixture",
+      "stage": "nav_A",
+      "static_deg": 180.0,
+      "heading_deg": 182.825
+    },
+    {
+      "step": 515,
+      "event": "enter_zone",
+      "zone": "A",
+      "base": [
+        -2.356,
+        0.117
+      ]
+    },
+    {
+      "step": 859,
+      "event": "walk_done",
+      "pose": [
+        -2.111,
+        0.761,
+        3.131
+      ],
+      "goal": [
+        -2.106,
+        0.8,
+        -3.092
+      ]
+    },
+    {
+      "step": 1,
+      "event": "trim_progress",
+      "pos_err": 0.0396,
+      "yaw_err": -0.0596,
+      "phase": "turn",
+      "cmd": [
+        0.0,
+        0.0,
+        0.0922
+      ]
+    },
+    {
+      "step": 51,
+      "event": "trim_progress",
+      "pos_err": 0.0396,
+      "yaw_err": -0.3094,
+      "phase": "turn",
+      "cmd": [
+        0.0,
+        0.0,
+        -0.25
+      ]
+    },
+    {
+      "step": 101,
+      "event": "trim_progress",
+      "pos_err": 0.0396,
+      "yaw_err": -0.5593,
+      "phase": "turn",
+      "cmd": [
+        0.0,
+        0.0,
+        -0.25
+      ]
+    },
+    {
+      "step": 151,
+      "event": "trim_progress",
+      "pos_err": 0.0396,
+      "yaw_err": -0.8092,
+      "phase": "turn",
+      "cmd": [
+        0.0,
+        0.0,
+        -0.25
+      ]
+    },
+    {
+      "step": 201,
+      "event": "trim_progress",
+      "pos_err": 0.0396,
+      "yaw_err": -1.0591,
+      "phase": "turn",
+      "cmd": [
+        0.0,
+        0.0,
+        -0.25
+      ]
+    },
+    {
+      "step": 251,
+      "event": "trim_progress",
+      "pos_err": 0.0396,
+      "yaw_err": -1.3092,
+      "phase": "turn",
+      "cmd": [
+        0.0,
+        0.0,
+        -0.25
+      ]
+    },
+    {
+      "step": 301,
+      "event": "trim_progress",
+      "pos_err": 0.0396,
+      "yaw_err": -1.5592,
+      "phase": "turn",
+      "cmd": [
+        0.0,
+        0.0,
+        -0.25
+      ]
+    },
+    {
+      "step": 351,
+      "event": "trim_progress",
+      "pos_err": 0.0305,
+      "yaw_err": -1.7079,
+      "phase": "drive",
+      "cmd": [
+        0.0572,
+        -0.0039,
+        0.0
+      ]
+    },
+    {
+      "step": 401,
+      "event": "trim_progress",
+      "pos_err": 0.0052,
+      "yaw_err": -1.7079,
+      "phase": "drive",
+      "cmd": [
+        0.0091,
+        -0.0039,
+        0.0
+      ]
+    },
+    {
+      "step": 451,
+      "event": "trim_progress",
+      "pos_err": 0.0049,
+      "yaw_err": -1.3719,
+      "phase": "final",
+      "cmd": [
+        0.0,
+        0.0,
+        0.35
+      ]
+    },
+    {
+      "step": 501,
+      "event": "trim_progress",
+      "pos_err": 0.0049,
+      "yaw_err": -1.0219,
+      "phase": "final",
+      "cmd": [
+        0.0,
+        0.0,
+        0.35
+      ]
+    },
+    {
+      "step": 551,
+      "event": "trim_progress",
+      "pos_err": 0.0049,
+      "yaw_err": -0.672,
+      "phase": "final",
+      "cmd": [
+        0.0,
+        0.0,
+        0.35
+      ]
+    },
+    {
+      "step": 601,
+      "event": "trim_progress",
+      "pos_err": 0.0049,
+      "yaw_err": -0.3222,
+      "phase": "final",
+      "cmd": [
+        0.0,
+        0.0,
+        0.35
+      ]
+    },
+    {
+      "step": 651,
+      "event": "trim_progress",
+      "pos_err": 0.0049,
+      "yaw_err": -0.0668,
+      "phase": "final",
+      "cmd": [
+        0.0,
+        0.0,
+        0.1146
+      ]
+    },
+    {
+      "step": 701,
+      "event": "trim_progress",
+      "pos_err": 0.0049,
+      "yaw_err": -0.0124,
+      "phase": "final",
+      "cmd": [
+        0.0,
+        0.0,
+        0.0212
+      ]
+    },
+    {
+      "step": 751,
+      "event": "trim_progress",
+      "pos_err": 0.0049,
+      "yaw_err": -0.0023,
+      "phase": "final",
+      "cmd": [
+        0.0,
+        0.0,
+        0.0039
+      ]
+    },
+    {
+      "step": 1629,
+      "event": "trim_done",
+      "pose": [
+        -2.1083,
+        0.7957,
+        -3.0935
+      ],
+      "timed_out": false
+    },
+    {
+      "step": 1629,
+      "event": "stage_done",
+      "stage": "nav_A",
+      "skill_state": "finished: planner reached target"
+    },
+    {
+      "step": 1629,
+      "event": "stage_start",
+      "stage": "stance_A"
+    },
+    {
+      "step": 1650,
+      "event": "stage_done",
+      "stage": "stance_A",
+      "skill_state": "finished"
+    },
+    {
+      "step": 1650,
+      "event": "stage_start",
+      "stage": "pick"
+    },
+    {
+      "step": 2904,
+      "event": "stage_failed",
+      "stage": "pick",
+      "truncated": 3,
+      "state": "failed: grasp servo timed out",
+      "attempt": 1
+    },
+    {
+      "step": 2904,
+      "event": "stage_start",
+      "stage": "pick"
+    },
+    {
+      "step": 3334,
+      "event": "stage_done",
+      "stage": "pick",
+      "skill_state": "finished"
+    },
+    {
+      "step": 3334,
+      "event": "stage_start",
+      "stage": "assemble"
+    },
+    {
+      "step": 3334,
+      "event": "wp_start",
+      "name": "start",
+      "kind": "servo"
+    },
+    {
+      "step": 3334,
+      "event": "assemble_start",
+      "t_l6_part": [
+        -0.005,
+        -0.0004,
+        0.0025,
+        0.0012,
+        0.707,
+        0.0015,
+        -0.7072
+      ]
+    },
+    {
+      "step": 3337,
+      "event": "wp_done",
+      "name": "start"
+    },
+    {
+      "step": 3337,
+      "event": "wp_start",
+      "name": "pull",
+      "kind": "servo"
+    },
+    {
+      "step": 3338,
+      "event": "base_trim",
+      "n": 1,
+      "along_fwd_mm": 60.0,
+      "pos_err_mm": 60.01
+    },
+    {
+      "step": 3348,
+      "event": "cap_off",
+      "x_mm": -106.8
+    },
+    {
+      "step": 3468,
+      "event": "wp_done",
+      "name": "pull"
+    },
+    {
+      "step": 3468,
+      "event": "wp_start",
+      "name": "lift",
+      "kind": "servo"
+    },
+    {
+      "step": 3480,
+      "event": "picked",
+      "part": [
+        -2.1715,
+        1.3024,
+        0.5093
+      ],
+      "gap_mm": 23.4,
+      "lift_mm": 30.4
+    },
+    {
+      "step": 3491,
+      "event": "wp_done",
+      "name": "lift"
+    },
+    {
+      "step": 3491,
+      "event": "wp_start",
+      "name": "turn_via",
+      "kind": "servo"
+    },
+    {
+      "step": 3543,
+      "event": "base_trim",
+      "n": 2,
+      "along_fwd_mm": 6.0,
+      "pos_err_mm": 6.0
+    },
+    {
+      "step": 3616,
+      "event": "wp_done",
+      "name": "turn_via"
+    },
+    {
+      "step": 3616,
+      "event": "wp_start",
+      "name": "turn",
+      "kind": "servo"
+    },
+    {
+      "step": 3637,
+      "event": "base_trim",
+      "n": 3,
+      "along_fwd_mm": 3.47,
+      "pos_err_mm": 3.47
+    },
+    {
+      "step": 3739,
+      "event": "base_trim",
+      "n": 4,
+      "along_fwd_mm": -3.06,
+      "pos_err_mm": 3.06
+    },
+    {
+      "step": 3777,
+      "event": "wp_done",
+      "name": "turn"
+    },
+    {
+      "step": 3777,
+      "event": "wp_start",
+      "name": "over_tail",
+      "kind": "servo"
+    },
+    {
+      "step": 3778,
+      "event": "base_trim",
+      "n": 5,
+      "along_fwd_mm": -301.97,
+      "pos_err_mm": 301.97
+    },
+    {
+      "step": 3953,
+      "event": "wp_done",
+      "name": "over_tail"
+    },
+    {
+      "step": 3953,
+      "event": "wp_start",
+      "name": "down",
+      "kind": "servo"
+    },
+    {
+      "step": 3977,
+      "event": "base_trim",
+      "n": 6,
+      "along_fwd_mm": -2.61,
+      "pos_err_mm": 58.36
+    },
+    {
+      "step": 4049,
+      "event": "base_trim",
+      "n": 7,
+      "along_fwd_mm": -0.87,
+      "pos_err_mm": 2.46
+    },
+    {
+      "step": 4060,
+      "event": "wp_done",
+      "name": "down"
+    },
+    {
+      "step": 4060,
+      "event": "wp_start",
+      "name": "push_on",
+      "kind": "servo"
+    },
+    {
+      "step": 4061,
+      "event": "base_trim",
+      "n": 8,
+      "along_fwd_mm": 69.24,
+      "pos_err_mm": 69.24
+    },
+    {
+      "step": 4183,
+      "event": "wp_done",
+      "name": "push_on"
+    },
+    {
+      "step": 4183,
+      "event": "release_start"
+    },
+    {
+      "step": 4232,
+      "event": "leave_start"
+    },
+    {
+      "step": 4271,
+      "event": "released",
+      "gap_mm": 89.0
+    },
+    {
+      "step": 4301,
+      "event": "success",
+      "ok": true,
+      "seat_dx_mm": 0.9,
+      "lateral_mm": 1.08,
+      "axis_deg": 0.89,
+      "nib_exposed": true
+    }
+  ],
+  "station_transition_order": [
+    "S",
+    "A"
+  ],
+  "interstation_path_lengths": {
+    "S": 2.883,
+    "S->A": 1.168
+  },
+  "base_path_length": 4.051,
+  "distance_to_first_interaction": 3.67,
+  "regrasp_events": 1,
+  "violations": [],
+  "end_state": {
+    "ok": true,
+    "seat_dx_mm": 0.9,
+    "lateral_mm": 1.08,
+    "axis_deg": 0.89,
+    "nib_exposed": true
+  },
+  "manipulation_success": true,
+  "mobile_success": true,
+  "transport_state": {
+    "picked": true,
+    "released": true
+  },
+  "command_state": null,
+  "elapsed_s": 891.7
+}

N023/stretch3/dr_off/seed_1004/stationassembly/000/completed/0.json

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

N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c3b2231367ed55cfd9bf29ad5e343dba1d5a10367fd0e93ae68bb495943a181
+size 2095145

N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen."], "length": 2136, "magicsim/control_steps": 4271, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is in front of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front-right, slightly above table height."}

N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.040291155544907545, -5.4328324912422886e-05, 0.022257674907723072, -2.1782331539227275, 0.9408807234545604, 0.5472470765396227, -0.24696882101703055, 0.11716574876706867, -0.036380573604116305, -0.36806390361602276, 0.20833333333333334], "std": [0.10576480449409585, 0.00045519451268854246, 0.16006810945299377, 0.26545791646589434, 0.7727614514484172, 0.035329004863923104, 0.41346734331491813, 0.4383002847913753, 0.28394806884529006, 0.5871925236110076, 0.406116431033705], "min": [-0.25, -0.0038853411097079515, -0.25, -3.3669333457946777, -2.297163724899292, 0.47388678789138794, -0.851593554019928, -0.7065705060958862, -0.7102445960044861, -0.9999999403953552, 0.0], "max": [0.30000001192092896, 0.0, 0.800000011920929, -1.8705978393554688, 1.3176614046096802, 0.6406217813491821, 0.710740864276886, 0.7069098353385925, 0.7088903188705444, 0.9997093081474304, 1.0], "count": [2136]}, "action_is_hold": {"mean": [0.013576779026217229, 0.013576779026217229, 0.013576779026217229, 0.031835205992509365, 0.031835205992509365, 0.031835205992509365, 0.031835205992509365, 0.031835205992509365, 0.031835205992509365, 0.031835205992509365, 0.8384831460674157], "std": [0.11572575382122373, 0.11572575382122373, 0.11572575382122373, 0.17556117353197598, 0.17556117353197598, 0.17556117353197598, 0.17556117353197598, 0.17556117353197598, 0.17556117353197598, 0.17556117353197598, 0.36800701056950347], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [2136]}, "observation.state": {"mean": [-2.1931149399793997, 0.553471917802754, -1.393951365061467, 0.5234144260262729, -2.9291749005077127e-08, 5.271653670990132e-08, 0.05451452307765603, 0.05451482351673668, 0.05451534505751704, 0.054512096932041704, 1.5913598219165797, -0.8994102708168518, 0.5258200347934046, 0.11534520825771712, 0.1165958065606931], "std": [0.31428044934568483, 0.6828019748199223, 2.3580433695419187, 0.10538991193722275, 2.95708475754792e-06, 7.041686236482665e-06, 0.04393442656946363, 0.04393424113256392, 0.04393381936986736, 0.043934690556135574, 0.7579939556479431, 0.7466130020675744, 0.7099138961573033, 0.11403893179045273, 0.11349763238418742], "min": [-3.5768001079559326, -2.4938299655914307, -3.1384365558624268, 0.39999571442604065, -6.369252514559776e-05, -9.074080298887566e-05, 0.0, 0.0, 0.0, 0.0, -0.15303173661231995, -1.5699862241744995, -7.178827218012884e-06, -9.592767691302129e-10, -3.2861929843974735e-10], "max": [-1.869389295578003, 0.8075501918792725, 3.141535997390747, 0.7136738896369934, 2.9820948839187622e-05, 0.00015902788436505944, 0.09636431187391281, 0.09636489301919937, 0.09636521339416504, 0.09634702652692795, 3.5590529441833496, 7.11333705112338e-05, 2.439157247543335, 0.25, 0.25], "count": [2136]}, "observation.joint_vel": {"mean": [0.04247684468557312, -0.007380433964636727, 0.022351876905296615, 0.002242325313457542, 9.742871893480931e-05, 4.537604786028861e-06, 0.0010709552847052346, 0.001074303717855827, 0.0010765691017167757, 0.0010471282856486619, -0.017263620181946108, -0.015355977600354807, 0.01819538355877929, 0.12090057818064039, 0.14280241128123666], "std": [0.100337922353274, 0.029972335828177522, 0.16067532009577462, 0.03150101060065999, 0.00044621711856740465, 7.402015619579103e-05, 0.0072797999948244025, 0.00731470494708857, 0.007354806409616241, 0.006815428910432746, 0.24200032793633727, 0.09351862411002386, 0.17010556180487704, 0.24271801171470886, 0.2842586167396744], "min": [-0.03989627584815025, -0.2358512580394745, -0.25000816583633423, -0.16097962856292725, -0.0016228341264650226, -0.0015146199148148298, -0.00877378974109888, -0.008837306872010231, -0.008908714167773724, -0.008118433877825737, -0.9984245896339417, -0.7365492582321167, -0.996158242225647, -1.0000001192092896, -1.0000007152557373], "max": [0.29986730217933655, 0.11318887025117874, 0.8000054955482483, 0.2672360837459564, 0.0018620423506945372, 0.0009115810389630497, 0.059907570481300354, 0.06010840833187103, 0.060358233749866486, 0.057490698993206024, 1.0000003576278687, 0.44295623898506165, 1.0000003576278687, 1.0000004768371582, 1.0000004768371582], "count": [2136]}, "observation.eef_pose": {"mean": [-2.179907199427876, 0.9403061908756972, 0.5473877140338278, -0.3175051152181984, 0.26578044659369643, -0.11703719708713152, -0.5980165645058096], "std": [0.26409974898591687, 0.7726127399571711, 0.03543662987920446, 0.3607080008370812, 0.3678423386178273, 0.2600139881138317, 0.35242601850842403], "min": [-3.3669333457946777, -2.297163724899292, 0.4737253487110138, -0.8516011238098145, -0.7083982229232788, -0.7149176001548767, -1.0], "max": [-1.8731573820114136, 1.3172857761383057, 0.6403898000717163, 0.062481533735990524, 0.7068837285041809, 0.017566386610269547, 0.7068556547164917], "count": [2136]}, "observation.environment_state": {"mean": [-2.0925972514161457, 1.3056380442354116, 0.48656611285461915, 0.8217257417630307, 0.0002566495275081497, 0.0011054560589090908, 0.16033172517428906, -2.024660110473633, 1.3089900016784668, 0.47999998927116394, 0.9996961951255798, 0.0, 0.0, 0.024647869169712067, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "std": [0.07002830587935902, 0.003424551705231092, 0.020081187017204818, 0.4047996303273104, 0.005028742994060117, 0.005708331581093176, 0.3676120785254534, 0.0, 0.0, 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": [-2.17647385597229, 1.3000693321228027, 0.47741377353668213, -0.6937911510467529, -0.006232141982764006, -0.008234323002398014, -0.7022871375083923, -2.024660110473633, 1.3089900016784668, 0.47999998927116394, 0.9996961951255798, 0.0, 0.0, 0.024647869169712067, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "max": [-1.8705668449401855, 1.3166680335998535, 0.541266679763794, 0.9999961853027344, 0.03044983558356762, 0.03482446074485779, 0.9997290372848511, -2.024660110473633, 1.3089900016784668, 0.47999998927116394, 0.9996961951255798, 0.0, 0.0, 0.024647869169712067, -2.0, 1.5, 0.23000000417232513, 1.0, 0.0, 0.0, 0.0], "count": [2136]}, "action.command": {"mean": [-2.6480418966256214, -0.46676616485302264, 0.45133504281174375, 0.19189270556601415, 5.6541378957679476e-08, 5.5955094565828164e-08, 0.2671565934118018, 0.09477756286266925, -2.182261509291208, 0.929698773135559, 0.5490169002164724, -0.2608592962281899, 0.1100470101086645, -0.04317028183312128, -0.3671361546102385, 0.043478260869565216, -3.541313409805298, -2.4181177616119385, 1.133139729499817, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.5146777629852295, -2.361194372177124, 1.1331360340118408, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.485276460647583, -2.29836106300354, 1.1331360340118408, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.45050311088562, -2.2240471839904785, 1.1331334114074707, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.4285967350006104, -2.177231550216675, 1.133135437965393, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.3867859840393066, -2.0878782272338867, 1.1331363916397095, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.3718907833099365, -2.0560457706451416, 1.1331357955932617, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.323944091796875, -1.953579306602478, 1.133137583732605, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.315156936645508, -1.9348002672195435, 1.1331363916397095, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.260875940322876, -1.8187966346740723, 1.1331408023834229, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.2584242820739746, -1.8135571479797363, 1.1331369876861572, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.233543872833252, -1.760385274887085, 1.1331346035003662, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.201691150665283, -1.692313313484192, 1.133147120475769, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.1985526084899902, -1.685605764389038, 1.1331357955932617, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.144958257675171, -1.5710697174072266, 1.1331326961517334, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.1355788707733154, -1.5510252714157104, 1.1331348419189453, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.0882251262664795, -1.4498262405395508, 1.1331323385238647, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.0731265544891357, -1.4175595045089722, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.031491994857788, -1.328582763671875, 1.1331350803375244, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -3.01031494140625, -1.2833255529403687, 1.1331367492675781, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.974759101867676, -1.2073392868041992, 1.133136510848999, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.9477009773254395, -1.1495134830474854, 1.1331356763839722, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.9180262088775635, -1.0860958099365234, 1.1331363916397095, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.8850514888763428, -1.0156257152557373, 1.1331357955932617, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.861293315887451, -0.9648523330688477, 1.1331355571746826, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.822275400161743, -0.8814675211906433, 1.1331372261047363, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.804560422897339, -0.8436088562011719, 1.1331349611282349, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.7597877979278564, -0.747925877571106, 1.1331355571746826, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.7478272914886475, -0.7223652005195618, 1.133135437965393, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.6968495845794678, -0.6134212613105774, 1.1331431865692139, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.691094398498535, -0.6011216640472412, 1.13313627243042, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.63452410697937, -0.48022565245628357, 1.1332683563232422, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.634361505508423, -0.4798780381679535, 1.1331111192703247, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.6328930854797363, -0.4767400920391083, 1.133135437965393, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.5776283740997314, -0.35863447189331055, 1.1331347227096558, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.5715079307556152, -0.34555456042289734, 1.133136510848999, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.520895481109619, -0.2373909205198288, 1.1331326961517334, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.5091006755828857, -0.21218454837799072, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.4641623497009277, -0.11614736169576645, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.446244239807129, -0.07785476744174957, 1.1331367492675781, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.4074294567108154, 0.005096194799989462, 1.133137822151184, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.3836750984191895, 0.0558616928756237, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.350696563720703, 0.12633974850177765, 1.133136510848999, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.320845603942871, 0.19013409316539764, 1.1331356763839722, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.2934229373931885, 0.2487388253211975, 1.1331350803375244, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.257448434829712, 0.32561948895454407, 1.1331361532211304, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.233687400817871, 0.37639904022216797, 1.1331347227096558, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.1926705837249756, 0.46405547857284546, 1.1331342458724976, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.167576551437378, 0.5176835060119629, 1.1331377029418945, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.1262946128845215, 0.6059072017669678, 1.1331359148025513, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.0928101539611816, 0.6774665713310242, 1.6780258417129517, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0, -2.1059999465942383, 0.800000011920929, -3.092291831970215, 0.0, 0.0, 0.0, 0.0, 2.0, -2.4634518341845775, -0.25821310646203627, 0.5697517995374749, -0.7375505533316229, -4.6336655810065795e-06, 3.020079613321856e-06, -0.6179725925606417, 0.0], "std": [0.7383352526423718, 1.6025368906403787, 0.5395096578502973, 0.3314569090152388, 6.646714614467009e-08, 6.574405313390888e-08, 0.8842741919341016, 1.2015108955587748, 0.26788732136380966, 0.7826516168862477, 0.03406720840124597, 0.4048220887987984, 0.43924417937786286, 0.2741063039753276, 0.5926539954154553, 0.203931119992323, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4406450490604976, 1.1026113173298804, 7.729141997758862e-09, 0.2281255793599375, 4.848136036538976e-07, 1.5369578217484123e-06, 0.14861945537893675, 0.0], "min": [-3.5767405033111572, -2.493828296661377, 0.0, -0.024123504757881165, 0.0, 0.0, -0.9996961951255798, -1.0, -3.3669333457946777, -2.297163724899292, 0.47388678789138794, -0.851593554019928, -0.7065705060958862, -0.7102445960044861, -0.9999999403953552, 0.0, -3.541313409805298, -2.4181177616119385, 1.133139729499817, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.5146777629852295, -2.361194372177124, 1.1331360340118408, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.485276460647583, -2.29836106300354, 1.1331360340118408, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.45050311088562, -2.2240471839904785, 1.1331334114074707, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.4285967350006104, -2.177231550216675, 1.133135437965393, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.3867859840393066, -2.0878782272338867, 1.1331363916397095, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.3718907833099365, -2.0560457706451416, 1.1331357955932617, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.323944091796875, -1.953579306602478, 1.133137583732605, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.315156936645508, -1.9348002672195435, 1.1331363916397095, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.260875940322876, -1.8187966346740723, 1.1331408023834229, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.2584242820739746, -1.8135571479797363, 1.1331369876861572, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.233543872833252, -1.760385274887085, 1.1331346035003662, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.201691150665283, -1.692313313484192, 1.133147120475769, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.1985526084899902, -1.685605764389038, 1.1331357955932617, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.144958257675171, -1.5710697174072266, 1.1331326961517334, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.1355788707733154, -1.5510252714157104, 1.1331348419189453, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.0882251262664795, -1.4498262405395508, 1.1331323385238647, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.0731265544891357, -1.4175595045089722, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.031491994857788, -1.328582763671875, 1.1331350803375244, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -3.01031494140625, -1.2833255529403687, 1.1331367492675781, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.974759101867676, -1.2073392868041992, 1.133136510848999, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.9477009773254395, -1.1495134830474854, 1.1331356763839722, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.9180262088775635, -1.0860958099365234, 1.1331363916397095, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.8850514888763428, -1.0156257152557373, 1.1331357955932617, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.861293315887451, -0.9648523330688477, 1.1331355571746826, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.822275400161743, -0.8814675211906433, 1.1331372261047363, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.804560422897339, -0.8436088562011719, 1.1331349611282349, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.7597877979278564, -0.747925877571106, 1.1331355571746826, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.7478272914886475, -0.7223652005195618, 1.133135437965393, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.6968495845794678, -0.6134212613105774, 1.1331431865692139, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.691094398498535, -0.6011216640472412, 1.13313627243042, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.63452410697937, -0.48022565245628357, 1.1332683563232422, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.634361505508423, -0.4798780381679535, 1.1331111192703247, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.6328930854797363, -0.4767400920391083, 1.133135437965393, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.5776283740997314, -0.35863447189331055, 1.1331347227096558, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.5715079307556152, -0.34555456042289734, 1.133136510848999, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.520895481109619, -0.2373909205198288, 1.1331326961517334, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.5091006755828857, -0.21218454837799072, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.4641623497009277, -0.11614736169576645, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.446244239807129, -0.07785476744174957, 1.1331367492675781, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.4074294567108154, 0.005096194799989462, 1.133137822151184, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.3836750984191895, 0.0558616928756237, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.350696563720703, 0.12633974850177765, 1.133136510848999, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.320845603942871, 0.19013409316539764, 1.1331356763839722, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.2934229373931885, 0.2487388253211975, 1.1331350803375244, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.257448434829712, 0.32561948895454407, 1.1331361532211304, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.233687400817871, 0.37639904022216797, 1.1331347227096558, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.1926705837249756, 0.46405547857284546, 1.1331342458724976, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.167576551437378, 0.5176835060119629, 1.1331377029418945, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.1262946128845215, 0.6059072017669678, 1.1331359148025513, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.0928101539611816, 0.6774665713310242, 1.6780258417129517, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0, -2.1059999465942383, 0.800000011920929, -3.092291831970215, 0.0, 0.0, 0.0, 0.0, 2.0, -3.3669333457946777, -2.297163724899292, 0.5697517395019531, -0.851593554019928, -5.81755421080743e-06, -1.7594032897250145e-06, -0.9999815821647644, 0.0], "max": [-1.868651270866394, 0.8075721859931946, 1.1331337690353394, 0.7536455988883972, 1.4156103134155273e-07, 1.3830140233039856e-07, 0.9997106194496155, 2.0, -1.8705978393554688, 1.3176614046096802, 0.6406217813491821, 0.710740864276886, 0.7069098353385925, 0.7088903188705444, 0.9997093081474304, 1.0, -3.541313409805298, -2.4181177616119385, 1.133139729499817, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.5146777629852295, -2.361194372177124, 1.1331360340118408, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.485276460647583, -2.29836106300354, 1.1331360340118408, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.45050311088562, -2.2240471839904785, 1.1331334114074707, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.4285967350006104, -2.177231550216675, 1.133135437965393, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.3867859840393066, -2.0878782272338867, 1.1331363916397095, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.3718907833099365, -2.0560457706451416, 1.1331357955932617, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.323944091796875, -1.953579306602478, 1.133137583732605, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.315156936645508, -1.9348002672195435, 1.1331363916397095, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.260875940322876, -1.8187966346740723, 1.1331408023834229, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.2584242820739746, -1.8135571479797363, 1.1331369876861572, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.233543872833252, -1.760385274887085, 1.1331346035003662, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.201691150665283, -1.692313313484192, 1.133147120475769, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.1985526084899902, -1.685605764389038, 1.1331357955932617, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.144958257675171, -1.5710697174072266, 1.1331326961517334, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.1355788707733154, -1.5510252714157104, 1.1331348419189453, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.0882251262664795, -1.4498262405395508, 1.1331323385238647, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.0731265544891357, -1.4175595045089722, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.031491994857788, -1.328582763671875, 1.1331350803375244, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -3.01031494140625, -1.2833255529403687, 1.1331367492675781, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.974759101867676, -1.2073392868041992, 1.133136510848999, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.9477009773254395, -1.1495134830474854, 1.1331356763839722, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.9180262088775635, -1.0860958099365234, 1.1331363916397095, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.8850514888763428, -1.0156257152557373, 1.1331357955932617, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.861293315887451, -0.9648523330688477, 1.1331355571746826, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.822275400161743, -0.8814675211906433, 1.1331372261047363, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.804560422897339, -0.8436088562011719, 1.1331349611282349, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.7597877979278564, -0.747925877571106, 1.1331355571746826, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.7478272914886475, -0.7223652005195618, 1.133135437965393, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.6968495845794678, -0.6134212613105774, 1.1331431865692139, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.691094398498535, -0.6011216640472412, 1.13313627243042, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.63452410697937, -0.48022565245628357, 1.1332683563232422, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.634361505508423, -0.4798780381679535, 1.1331111192703247, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.6328930854797363, -0.4767400920391083, 1.133135437965393, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.5776283740997314, -0.35863447189331055, 1.1331347227096558, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.5715079307556152, -0.34555456042289734, 1.133136510848999, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.520895481109619, -0.2373909205198288, 1.1331326961517334, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.5091006755828857, -0.21218454837799072, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.4641623497009277, -0.11614736169576645, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.446244239807129, -0.07785476744174957, 1.1331367492675781, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.4074294567108154, 0.005096194799989462, 1.133137822151184, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.3836750984191895, 0.0558616928756237, 1.1331353187561035, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.350696563720703, 0.12633974850177765, 1.133136510848999, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.320845603942871, 0.19013409316539764, 1.1331356763839722, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.2934229373931885, 0.2487388253211975, 1.1331350803375244, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.257448434829712, 0.32561948895454407, 1.1331361532211304, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.233687400817871, 0.37639904022216797, 1.1331347227096558, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.1926705837249756, 0.46405547857284546, 1.1331342458724976, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.167576551437378, 0.5176835060119629, 1.1331377029418945, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.1262946128845215, 0.6059072017669678, 1.1331359148025513, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.0928101539611816, 0.6774665713310242, 1.6780258417129517, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0, -2.1059999465942383, 0.800000011920929, -3.092291831970215, 0.0, 0.0, 0.0, 0.0, 2.0, -1.9283486604690552, 1.0483524799346924, 0.5697518587112427, -0.006064713001251221, -4.287543561076745e-06, 3.8292027966235764e-06, -0.5242024064064026, 0.0], "count": [2136]}, "action.applied": {"mean": [0.04247578560601513, -0.007312907002033222, 0.022257674907723072, 0.523599910811427, 0.05463363830096793, 0.05463363830096793, 0.05463363830096793, 0.05463363830096793, 1.5884465466389495, -0.9013819966399189, 0.5281178220300515, 0.1027621722846442, 0.1027621722846442], "std": [0.10031833104118602, 0.029801552717666997, 0.16006810945299377, 0.10538771164301153, 0.0439206345067856, 0.0439206345067856, 0.0439206345067856, 0.0439206345067856, 0.7614183858708532, 0.7462642389411398, 0.7115251257259262, 0.12300601212340066, 0.12300601212340066], "min": [-0.04594464600086212, -0.23583348095417023, -0.25, 0.39999809861183167, 0.0, 0.0, 0.0, 0.0, -0.15833640098571777, -1.5699999332427979, -1.3022877283219714e-06, 0.0, 0.0], "max": [0.29982537031173706, 0.13064637780189514, 0.800000011920929, 0.7136601805686951, 0.09639517962932587, 0.09639517962932587, 0.09639517962932587, 0.09639517962932587, 3.5651934146881104, 4.484722467168467e-06, 2.4682724475860596, 0.25, 0.25], "count": [2136]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2136]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2136]}, "sim_step_idx": {"mean": [2166.0], "std": [1233.2200398414984], "min": [31.0], "max": [4301.0], "count": [2136]}, "timestamp": {"mean": [42.700000002136115], "std": [24.664400796914194], "min": [0.0], "max": [85.4000015258789], "count": [2136]}, "frame_index": {"mean": [1067.5], "std": [616.6100199207492], "min": [0.0], "max": [2135.0], "count": [2136]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2136]}, "index": {"mean": [1067.5], "std": [616.6100199207492], "min": [0.0], "max": [2135.0], "count": [2136]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [2136]}, "next.done": {"mean": [0.00046816479400749064], "std": [0.021632050659453037], "min": [0.0], "max": [1.0], "count": [2136]}, "observation.images.head": {"mean": [[[0.5147528514200456]], [[0.49148486314460194]], [[0.44555196588789237]]], "std": [[[0.06966005445835828]], [[0.07710107620877134]], [[0.10324885454545547]]], "min": [[[0.16470588235294117]], [[0.23529411764705882]], [[0.12156862745098039]]], "max": [[[0.9254901960784314]], [[0.8705882352941177]], [[0.9019607843137255]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5676682914499563]], [[0.5501717909920397]], [[0.514937930957732]]], "std": [[[0.15160881934114398]], [[0.14682590273635696]], [[0.15364186909633654]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9294117647058824]], [[0.9215686274509803]], [[0.9137254901960784]]], "count": [100]}}}

N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,597 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 4271,
+ "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": [
+      4.277598831771263,
+      -0.36613733805633886,
+      0.16999966103787886
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0000000000000002,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.1102230246251565e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "pen_holder_1",
+     "cat_name": "pen_holder",
+     "inst_id": 1,
+     "noun": "pen holder",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.087533253315509,
+      -0.39725009962233104,
+      0.4199996763459132
+     ],
+     "bbox": {
+      "extent": [
+       0.2068909267807047,
+       0.0896883542232152,
+       0.06449999939650297
+      ],
+      "center": [
+       2.914335439641036e-16,
+       1.1102230246251565e-16,
+       -0.017750000115484
+      ]
+     }
+    },
+    {
+     "id": "cap_1",
+     "cat_name": "cap",
+     "inst_id": 1,
+     "noun": "cap",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      4.059015468358824,
+      -0.31664170997386143,
+      0.41890085624808604
+     ],
+     "bbox": {
+      "extent": [
+       0.04348375615022802,
+       0.03911266018542143,
+       0.035177712321160126
+      ],
+      "center": [
+       -1.4538977330409014e-06,
+       -1.556823917868433e-05,
+       2.4080261931680447e-07
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_A_1",
+     "relation": "in_front_of",
+     "object": "pen_holder_1"
+    },
+    {
+     "subject": "pen_holder_1",
+     "relation": "right_of",
+     "object": "cap_1"
+    },
+    {
+     "subject": "cap_1",
+     "relation": "left_of",
+     "object": "pen_holder_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        811.3606627541883,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        811.3606388722814,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 43.048473468183616,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.4251039039565327,
+      -2.7606410562008787,
+      1.2357226921661846
+     ],
+     "viewpoint": "front-right, slightly above table height",
+     "extrinsics": {
+      "R": [
+       [
+        -5.56468016110756e-08,
+        -0.9999999999938459,
+        -3.5078881838734866e-06
+       ],
+       [
+        0.5646357088821415,
+        -2.9266214562895243e-06,
+        0.825340242716055
+       ],
+       [
+        -0.825340242721242,
+        -1.9347513867118415e-06,
+        0.5646357088788294
+       ]
+      ],
+      "t": [
+       -0.0029374520292166934,
+       -1.0975147957833271,
+       -0.6905334495545234
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        426.91786449658065,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        426.9178503597538,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 73.70742419505024,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.476537732680479,
+      -2.702700293661044,
+      -0.0036022728568521666
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -0.9999999999940066,
+        3.409534356899787e-06,
+        6.01063709654693e-07
+       ],
+       [
+        3.46210948901734e-06,
+        0.9848141327789798,
+        0.1736119922897026
+       ],
+       [
+        1.651305908443882e-14,
+        0.1736119922907431,
+        -0.9848141327848816
+       ]
+      ],
+      "t": [
+       0.008999751121030937,
+       -0.07177462016445776,
+       0.044614582297616646
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "HelloRobot",
+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.5768,
+       -2.49383,
+       0.06
+      ],
+      "ori": [
+       0.8018732666969299,
+       0.0,
+       0.0,
+       0.5974941849708557
+      ]
+     },
+     "facing_yaw_deg": 73.38128420886218,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1059.94733,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is in front of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front-right, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [pen [cap]r]\n\n\n\n\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.",
+   "template_id": -1,
+   "slots": {
+    "obj": 3.190893384631092,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 3.190893384631092.",
+   "task_id": "N023",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_1599": {
+    "frame_idx": 1599,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavToTrim",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1601": {
+    "frame_idx": 1601,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1617": {
+    "frame_idx": 1617,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1621": {
+    "frame_idx": 1621,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1759": {
+    "frame_idx": 1759,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1811": {
+    "frame_idx": 1811,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2873": {
+    "frame_idx": 2873,
+    "caption": "The skill for the small cap could not be planned; the right gripper is below the cap.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "failed",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2874": {
+    "frame_idx": 2874,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "computing",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2875": {
+    "frame_idx": 2875,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3238": {
+    "frame_idx": 3238,
+    "caption": "Working on the small cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_3303": {
+    "frame_idx": 3303,
+    "caption": "Done — the small cap is grasped.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "ParallelGripper",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_3304": {
+    "frame_idx": 3304,
+    "caption": "Working on the small cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:start",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_3343": {
+    "frame_idx": 3343,
+    "caption": "Working on the small cap; the right gripper is to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "right_of"
+    ]
+   },
+   "frame_3450": {
+    "frame_idx": 3450,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:lift",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_3511": {
+    "frame_idx": 3511,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn_via",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3514": {
+    "frame_idx": 3514,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_3751": {
+    "frame_idx": 3751,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3770": {
+    "frame_idx": 3770,
+    "caption": "Working on the small cap; the right gripper is below and to the left of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_3790": {
+    "frame_idx": 3790,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_3988": {
+    "frame_idx": 3988,
+    "caption": "Working on the small cap; the right gripper is to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:down",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_4227": {
+    "frame_idx": 4227,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "leave",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,270 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 2136,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                21
+            ],
+            "names": [
+                "object_pose.cap.0",
+                "object_pose.cap.1",
+                "object_pose.cap.2",
+                "object_pose.cap.3",
+                "object_pose.cap.4",
+                "object_pose.cap.5",
+                "object_pose.cap.6",
+                "object_pose.pen_holder.0",
+                "object_pose.pen_holder.1",
+                "object_pose.pen_holder.2",
+                "object_pose.pen_holder.3",
+                "object_pose.pen_holder.4",
+                "object_pose.pen_holder.5",
+                "object_pose.pen_holder.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"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                848
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 15:55:35"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen."}

N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:576435a874164e2d2f87d53d73ad1e88b1329b906d881c77345dd722ae4b7947
+size 15983223

N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e0b262f1e6b76bdbd4dbab216d9cb9ddb2cc116e3150f83fd16dcb11389ed58
+size 45320574

N023/stretch3/dr_off/seed_1004/stationassembly/000/run_meta.json

@@ -0,0 +1,868 @@
+{
+    "run_id": "stationassembly/000",
+    "created": "2026-11-09 15:42:51",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n023_str_off_1004/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MobilePenCapEnv-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 1004,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 14
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "HelloRobot": {
+                    "name": "hellorobot",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.5768,
+                                -2.49383,
+                                0.06
+                            ],
+                            [
+                                -3.5768,
+                                -2.49383,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                73.38128
+                            ],
+                            [
+                                0,
+                                0,
+                                73.38128
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "joint_arm_l[0-3]": 0.0,
+                            "joint_lift": 0.4,
+                            "joint_wrist_yaw": 1.5707963267948966
+                        }
+                    },
+                    "action": {
+                        "base_action": "differential_virtual",
+                        "arm_action": "ik_abs",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "hellorobot",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 8,
+                            "ik_max_goalset": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 1.0,
+                            "seed_use_live_joint_pos": true
+                        },
+                        "motiongen": {
+                            "type": "hellorobot",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4,
+                            "max_attempts": 6,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 1.0,
+                            "seed_use_live_joint_pos": true,
+                            "mode": "position",
+                            "joint_limit_retry_weight": 100000000.0
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_differential",
+                            "dwb_differential": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 24.0,
+                                "goal_cost_mode": "path",
+                                "own_body_clear": true,
+                                "own_body_radius": 0.3,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "dilate_radius": 0.3,
+                                "room_size": 20.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.45,
+                                "scan_min_z": 0.22,
+                                "scan_max_z": 1.75,
+                                "goal_pos_threshold": 0.04,
+                                "goal_yaw_threshold": 0.05,
+                                "kp_goal_yaw": 1.5,
+                                "min_speed": -0.3,
+                                "max_speed": 0.3,
+                                "w_heading": 0.5,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "goal_heading_fade_distance": 0.5,
+                                "scan_type": "3d"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 0.2,
+                                "kp_linear_x": 2.0,
+                                "kp_linear_y": 2.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 0.1,
+                                "kd_linear_y": 0.1,
+                                "min_vel": -0.25,
+                                "max_vel": 0.35,
+                                "linear_dead_zone": 0.0012,
+                                "angular_dead_zone": 0.0008,
+                                "nav_heading_target": 1,
+                                "heading_hold_distance": 0.15,
+                                "preprocess_kwargs": {
+                                    "position_threshold": 0.0008
+                                },
+                                "velocity_frame": "world"
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.4,
+                        "wheel_base": 0.5
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.73834228515625,
+                        "horizontal_aperture": 2.1600000858306885,
+                        "vertical_aperture": 1.62,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/base_link",
+                        "pos": [
+                            0.049771,
+                            -0.002942,
+                            1.295723
+                        ],
+                        "ori": [
+                            0.0002,
+                            -55.623,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.280753493309021,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.44,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/link_gripper_s3_body",
+                        "pos": [
+                            0.009,
+                            0.062939,
+                            0.056398
+                        ],
+                        "ori": [
+                            -170.0021,
+                            0.0,
+                            -179.9998
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "background": {
+                    "intensity": [
+                        1059.94733,
+                        1059.94733
+                    ]
+                },
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "objects": {
+                    "table_A": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.0,
+                                1.5,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_A_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.78,
+                                    0.72,
+                                    0.62
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "pen_holder": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/pen_holder_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.02466,
+                                1.30899,
+                                0.48
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                2.82466
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "pen_holder_1": {
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "cap": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/cap_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.11006,
+                                1.30478,
+                                0.48
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                2.82466
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "cap_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "mass": 0.01997,
+                                "physics_material": {
+                                    "static_friction": 0.6,
+                                    "dynamic_friction": 0.5,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 120,
+                    "agent_height_cm": 170,
+                    "min_agent_radius_cm": 35.0,
+                    "max_agent_radius_cm": 35.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": true
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "level": "easy",
+            "termination": {
+                "timeout_steps": 9000,
+                "success_hold_frames": 1
+            },
+            "station": {
+                "S": {
+                    "pose": [
+                        -3.6,
+                        -2.5,
+                        60.0
+                    ]
+                },
+                "A": {
+                    "center": [
+                        -2.0,
+                        0.6
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_A"
+                }
+            },
+            "stance": {
+                "radii_A": [
+                    0.45,
+                    0.55,
+                    0.35,
+                    0.65
+                ],
+                "radii_B": [
+                    0.45,
+                    0.55,
+                    0.35,
+                    0.65
+                ],
+                "bearings_deg": [
+                    0.0,
+                    -25.0,
+                    25.0
+                ],
+                "yaw_offsets_deg": [
+                    0.0
+                ],
+                "include_current": true,
+                "axis_aligned": true,
+                "tool_behind_m": 0.021,
+                "force_walk_min_m": 0.0015,
+                "slide_offsets_m": [
+                    -0.004,
+                    0.004,
+                    -0.008,
+                    0.008,
+                    -0.012,
+                    0.012
+                ],
+                "heading_deg": 180.0
+            },
+            "assembly": {
+                "part": {
+                    "name": "cap",
+                    "id": 0
+                },
+                "fixture": {
+                    "name": "pen_holder",
+                    "id": 0
+                },
+                "support_z": 0.43,
+                "part_half_height": 0.0175,
+                "lift_height": 0.03,
+                "carry_lost": 0.25,
+                "hold_steps": 30,
+                "release_clear": 0.06,
+                "fixture_move_limit": 0.01,
+                "fall_margin": 0.12,
+                "axis_max_deg": 8.0,
+                "lateral_max": 0.003,
+                "seat_tol_in": 0.004,
+                "seat_tol_out": 0.002,
+                "pull": 0.06,
+                "lift": 0.06,
+                "over_x": 0.155,
+                "push_extra": 0.0,
+                "umi": {
+                    "table_clearance": 0.01,
+                    "min_approach_down_deg": 65.0,
+                    "max_approach_down_deg": 90.0,
+                    "max_candidates": 64
+                },
+                "heading_link": "none",
+                "free_axis_yaw": true,
+                "approach_axis": "x",
+                "gap_open": 0.0865,
+                "hand": {
+                    "wrist_to_gripper_pos": [
+                        -0.1816,
+                        0.0,
+                        0.0
+                    ],
+                    "wrist_to_gripper_quat_wxyz": [
+                        0.70710678,
+                        0.0,
+                        0.70710678,
+                        0.0
+                    ],
+                    "tcp_in_gripper": [
+                        0.0,
+                        0.0,
+                        0.1696
+                    ],
+                    "finger_stroke": 0.0445
+                },
+                "gripper_gap": {
+                    "joint_regex": "joint_gripper_finger_.*",
+                    "open_q": 0.25,
+                    "open_gap": 0.089
+                },
+                "turn_via_deg": -90.0,
+                "hover_pos_tol": 0.006
+            },
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "cap",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "pen_holder",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.106,
+                                0.8,
+                                180.0
+                            ],
+                            "heading_from_fixture": true
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp",
+                            "skip_retrieval": true
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "cap",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "pen_holder",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.106,
+                                0.8,
+                                180.0
+                            ],
+                            "heading_from_fixture": true
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp",
+                            "skip_retrieval": true
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.06,
+                    "rotation_threshold": 0.06,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.05,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1800,
+                    "reactive": false,
+                    "base_pos_threshold": 0.025,
+                    "base_rot_threshold": 0.05,
+                    "eef_pos_threshold": 0.015,
+                    "eef_rot_threshold": 0.15,
+                    "waypoint_max_steps": 30,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "debug": false,
+                    "debug_viz": false,
+                    "stall_release_ticks": 50,
+                    "stall_release_factor": 3.0,
+                    "debug_sphere": false,
+                    "interp_validate_target": false
+                },
+                "AssemblyServoL": {
+                    "translation_threshold": 0.0003,
+                    "rotation_threshold": 0.005,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1000000,
+                    "min_steps_before_done": 1000000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.03,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.001,
+                    "timeout_steps": 300,
+                    "stride": 1,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.12,
+                    "waypoint_max_steps": 20,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.001,
+                    "timeout_steps": 30
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
+                    "trim_yaw_threshold": 0.0012,
+                    "max_steps": 1500
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false,
+                    "trim": true
+                },
+                "HoldPose": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                },
+                "NavTo": {
+                    "robot_id": 0,
+                    "position_offset": 0.85,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06
+                },
+                "ReachStance": {
+                    "check_current_first": true,
+                    "stance_margin": 0.0,
+                    "max_reach": 1.0,
+                    "max_walks": 2,
+                    "reject_radius": 0.05,
+                    "obstacle_avoidance": [
+                        "dynamic"
+                    ],
+                    "walk_planner": "MobileServoL",
+                    "strategy_kwargs": {
+                        "reach_steps": 2
+                    },
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "goalset_lock_base": true,
+                    "debug": true,
+                    "obstacle_ignore": [
+                        "nib_cone",
+                        "nib_stub"
+                    ]
+                },
+                "AssemblyGrasp": {
+                    "pre_grasp_offset_x": 0.12,
+                    "retrieval_offset_x": 0.15,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "goalset_lock_base": true,
+                    "reactive": false,
+                    "viz_grasp": false,
+                    "close_settle_steps": 10,
+                    "obstacle_ignore": [
+                        "pen_holder"
+                    ],
+                    "servo_windup": 0.004,
+                    "servo_pos_tol": 0.004,
+                    "servo_lateral_tol": 0.012,
+                    "servo_lateral_gate": 0.012
+                },
+                "CarryPose": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "carry_part_pos": [
+                        0.0,
+                        -0.35,
+                        0.6
+                    ],
+                    "planner_mode": 1,
+                    "carry_fallbacks": [
+                        [
+                            0.0,
+                            -0.3,
+                            0.5
+                        ],
+                        [
+                            0.0,
+                            -0.4,
+                            0.7
+                        ],
+                        [
+                            0.0,
+                            -0.25,
+                            0.6
+                        ]
+                    ]
+                },
+                "AssemblyInsert": {
+                    "plan_mode": 1,
+                    "max_lin": 0.002,
+                    "max_rot_deg": 1.0,
+                    "settle_ticks": 3,
+                    "servo_max_steps": 600,
+                    "lateral_gate": 0.002,
+                    "stall_ticks": 60,
+                    "stall_min_progress": 0.8,
+                    "carry_lost": 0.25,
+                    "open_value": 0.0,
+                    "base_trim": true,
+                    "yaw_trade": false,
+                    "trim_min_m": 0.0008,
+                    "trim_stall_ticks": 20,
+                    "trim_max": 24,
+                    "trim_bias_m": 0.0,
+                    "trim_settle_ticks": 3,
+                    "trim_along_path": true,
+                    "trim_now_m": 0.02,
+                    "trim_hold_heading": 1.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "assembly",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n023_str_off_1004/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "cap",
+                "pen_holder"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3069f3710395ea10755444fc824b2fb2bf0e735a86fdde41495a44557dd1c137
+size 422810

N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,273 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationassembly/000",
+    "task_type": "StationAssembly",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -2.0,
+                                    1.5,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "pen_holder": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/Assets/Object/MobileAssembly/pen_holder_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.02466,
+                                    1.30899,
+                                    0.48
+                                ],
+                                "ori": [
+                                    0.9996961951255798,
+                                    0.0,
+                                    0.0,
+                                    0.024647312238812447
+                                ],
+                                "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": {}
+                        }
+                    ],
+                    "cap": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/Assets/Object/MobileAssembly/cap_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.110060453414917,
+                                    1.3047680854797363,
+                                    0.4789010286331177
+                                ],
+                                "ori": [
+                                    0.9996894001960754,
+                                    -0.0012337863445281982,
+                                    -1.6247853636741638e-05,
+                                    0.02488921955227852
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.01997,
+                                    "physics_material": {
+                                        "static_friction": 0.6,
+                                        "dynamic_friction": 0.5,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    0.0008300152840092778,
+                                    -0.00031946355011314154,
+                                    -0.00016855128342285752
+                                ],
+                                "angular_velocity": [
+                                    0.015384790487587452,
+                                    -0.06430480629205704,
+                                    0.0007546572596766055
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1059.94733,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "HelloRobot": {
+                "root_pose": [
+                    [
+                        -3.5768001079559326,
+                        -2.4938299655914307,
+                        0.05999999865889549,
+                        0.8018732666969299,
+                        0.0,
+                        0.0,
+                        0.5974941253662109
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.4000000059604645,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.5707963705062866,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.04977099969983101,
+                        -0.002942000050097704,
+                        1.2957229614257812,
+                        -0.6254264116287231,
+                        -0.3299117982387543,
+                        0.32990962266921997,
+                        0.6254276037216187
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.008999999612569809,
+                        0.06293900310993195,
+                        0.056398000568151474,
+                        -1.5083966786733072e-07,
+                        1.7244702803509426e-06,
+                        0.9961962699890137,
+                        0.08713743835687637
+                    ]
+                ]
+            }
+        }
+    }
+}

N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a86869fb53e0b1dfa5d30d567cba577baa769b6c171dd52cd3363f63aa3a1549
+size 592529

N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,228 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 15:55:58"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N059/go2_arm/dr_off/seed_1004/data/config_resolved.yaml

@@ -0,0 +1,792 @@
+env:
+  sim:
+    seed: 1004
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    enable_scene_query_support: true
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  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:
+      - 1500
+      - 1500
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.5
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_a_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          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:
+          - 1.9
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_b_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      partition:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 0.2
+          - 2.55
+          - 0.78
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.08
+          - 2.3
+          - 1.5
+        partition_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.8
+            - 0.8
+            - 0.84
+          physics:
+            type: geometry
+            collision: true
+      demo_x:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - -1.4080912285729887
+            - 2.22
+            - 0.414
+          - - -1.4080912285729887
+            - 2.22
+            - 0.414
+          ori:
+          - - 0.0
+            - 0.0
+            - 9.551213732391435
+          - - 0.0
+            - 0.0
+            - 9.551213732391435
+        demo_x_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      demo_y:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - -1.4080912285729887
+            - 2.22
+            - 0.3565
+          - - -1.4080912285729887
+            - 2.22
+            - 0.3565
+          ori:
+          - - 0.0
+            - 0.0
+            - 9.551213732391435
+          - - 0.0
+            - 0.0
+            - 9.551213732391435
+        demo_y_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      block_x:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 2.021560430084314
+            - 2.22
+            - 0.36149999999999993
+          - - 2.021560430084314
+            - 2.22
+            - 0.36149999999999993
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        block_x_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      block_y:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 1.7693338269299284
+            - 2.22
+            - 0.3565
+          - - 1.7693338269299284
+            - 2.22
+            - 0.3565
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        block_y_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+  nav:
+    navmesh:
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      validate_path_clearance: true
+      validate_path_window: true
+      validate_path_reroute: true
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 65
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      navmesh_offset_z_m: 0
+      verbose: false
+    occupancymap:
+      cell_size: 0.05
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.1
+          - -2.1
+          - 0.42
+        - - -2.9
+          - -1.9
+          - 0.42
+        ori:
+        - - 0.0
+          - 0.0
+          - 19.999999999999996
+        - - 0.0
+          - 0.0
+          - 40.0
+        initial_joint_pos: null
+      action:
+        base_action: unified
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_max_goalset: 128
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 8
+          num_ik_seeds: 64
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.16
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.35
+            max_vx: 0.35
+            min_vy: -0.25
+            max_vy: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            dynamic_window_source: command
+            default_height: 0.35
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 30000
+    success_hold_frames: 1
+  task_version: EXT60-MobileAvatar-v3
+  agent_id: a12
+  primary_category: C6
+  embodiment: go2_arm
+  execution_mode: collect_chain
+  level: easy
+  scene_seed: 1004
+  layout:
+    floor_z: 0.03
+    room:
+      x:
+      - -3.7
+      - 3.7
+      'y':
+      - -2.55
+      - 4.05
+    S:
+      x: -3.0
+      'y': -2.0
+      yaw_deg: 30.0
+    boxes:
+      table_a:
+        cx: -1.5
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      table_b:
+        cx: 1.9
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      partition:
+        cx: 0.2
+        cy: 2.55
+        sx: 0.08
+        sy: 2.3
+        height: 1.5
+    stations:
+      A:
+        table: table_a
+        outward:
+        - 0.0
+        - -1.0
+      B:
+        table: table_b
+        outward:
+        - 0.0
+        - -1.0
+  stand:
+    standoff: 0.38
+  stretch: {}
+  spawn_z: 0.42
+  stage_retries: 2
+  task_id: N059
+  draw_kind: stack
+  cue_min_fraction: 1.0
+  review_cams:
+  - pos:
+    - -1.0
+    - 1.5
+    - 0.75
+    look_at:
+    - -1.5
+    - 2.22
+    - 0.42
+    focal: 6
+  - pos:
+    - 1.9
+    - 1.45
+    - 0.8
+    look_at:
+    - 1.9
+    - 2.22
+    - 0.4
+    focal: 6
+  - pos:
+    - 3.6
+    - -0.6
+    - 2.6
+    look_at:
+    - 0.2
+    - 2.2
+    - 0.4
+    focal: 5
+  stack:
+    half_row: 0.3
+    min_gap: 0.2
+    max_gap: 0.3
+    half_t1: 0.2
+    yaw_jitter_deg: 10.0
+    legible_size: 0.04
+    xy_tol: 0.02
+    z_tol: 0.012
+    other_tol: 0.06
+    lift_detect: 0.02
+  observe:
+    standoff: 0.9
+  spawn_jitter:
+    x: 0.1
+    'y': 0.1
+    yaw_deg: 10.0
+  items:
+    demo_x:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+      station: A
+      t: 0.09190877142701115
+      depth: 0.12
+      z: 0.084
+      yaw_deg: 9.551213732391435
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    demo_y:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+      station: A
+      t: 0.09190877142701115
+      depth: 0.12
+      z: 0.026500000000000003
+      yaw_deg: 9.551213732391435
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    block_x:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+      station: B
+      t: 0.12156043008431389
+      depth: 0.12
+      z: 0.0315
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    block_y:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+      station: B
+      t: -0.13066617307007164
+      depth: 0.12
+      z: 0.0265
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+  draw:
+    bottom: 'Y'
+    top: X
+    t1: 0.09190877142701115
+    yaw1_deg: 9.551213732391435
+    start:
+      X: 0.12156043008431389
+      'Y': -0.13066617307007164
+collect:
+  auto_collect:
+    task_type: station
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n059_go2_off_1004/out/data/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  global_planner:
+    NavTo:
+      carry_arm: true
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.2
+      rotation_threshold: 0.3
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+    MoveL:
+      translation_threshold: 0.003
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.2
+      timeout_steps: 50
+      debug: false
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1500
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      interp_validate_target: true
+      retry_mobile_on_locked_plan_failure: true
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.12
+      angle_threshold: 0.3
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      hold_steps: 10
+      obstacle_avoid_paths:
+      - dynamic
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+  command:
+    StackBlocksGo2:
+      robot_id: 0
+      hand_id: 0
+      init_limit: 90
+      max_attempt: 2
+      read_ticks: 26
+      pick_beta_deg: 60.0
+      pick_extra: 0.04
+      grasp_dz: 0.01
+      stage_retries: 2
+      stand_hops: 2
+      stand_trigger: 0.09
+      hop_lead: 0.115
+      hop_moved: 0.03
+      hold_idle: true
+      still_window: 20
+      still_move: 0.004
+      still_turn_deg: 0.5
+      still_timeout: 600
+      observe_timeout: 900
+      place_hover: 0.04
+      release_clearance: 0.006
+      retreat_up: 0.12
+env_string: StackOrderEnvGo2-V0
+check:
+  command: StackBlocksGo2
+levels:
+  easy:
+    task:
+      spawn_jitter:
+        x: 0.1
+        'y': 0.1
+        yaw_deg: 10.0
+  medium:
+    task:
+      spawn_jitter:
+        x: 0.2
+        'y': 0.2
+        yaw_deg: 15.0
+  hard:
+    task:
+      spawn_jitter:
+        x: 0.3
+        'y': 0.3
+        yaw_deg: 20.0
+visual_dr:
+  keep:
+  - demo_x
+  - demo_y
+  - block_x
+  - block_y

N059/go2_arm/dr_off/seed_1004/data/record/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1809 rows vs ceil(3618/2) = 1809"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 91..3707, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "20.15 MB, 1809 frames at 25 fps, mean luma 74..146, std 20, new picture 1808x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1809 vs 1809"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "30.67 MB, 1809 frames at 25 fps, mean luma 111..144, std 26, new picture 1808x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1809 vs 1809"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stackblocksgo2/000/sim_info"
+  }
+ }
+}

N059/go2_arm/dr_off/seed_1004/data/record/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n059_go2_off_1004/out/data/record  task=N059  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n059_go2_off_1004/out/data/record/stackblocksgo2/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1809  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: 1809 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'
+rows 1809 at dataset fps 25 = 72.36 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1809 rows vs ceil(3618/2) = 1809
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..3707, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 20.15 MB, 1809 frames at 25 fps, mean luma 74..146, std 20, new picture 1808x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1809 vs 1809
+[PASS] video observation.images.wrist decodes, 640x480, not black: 30.67 MB, 1809 frames at 25 fps, mean luma 111..144, std 26, new picture 1808x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1809 vs 1809
+parquet size 3.16 MB
+[PASS] sim_info present: stackblocksgo2/000/sim_info
+dataset size 54.21 MB; whole cell dir 55.9 MB
+RESULT: ALL PASS

N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/completed/0.json

@@ -0,0 +1 @@
+{"run_id": "stackblocksgo2/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b52cb349f1f78a47b7eda79dc2395031336560e37aea77d7dfb975c13fdc5c88
+size 3159100

N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 1809, "magicsim/control_steps": 3618, "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 demo y. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo y. The gray table b is to the left of the block x. The white partition is to the left of the block y. The demo x is on top of the demo y. The block x is to the right of the block y. The block y is to the left of the block x. The scene is viewed from front, at table height."}

N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.10771553033747648, -0.0017026072113701096, 0.02276115779568801, 0.3457048074226474, 0.941835643813187, 1.4862813180309424, 0.6241007000125529, 0.13284659856645162, -0.521163232892241, 0.7462013779854687, 0.1077585200360328, 0.3454947484798231], "std": [0.15458919496061035, 0.020652101751293686, 0.3573117628130471, 0.004950070416963236, 1.5561018776517745, 0.8685983530629978, 0.06216107047372505, 0.04510263741070149, 0.293718684733569, 0.21677971481243197, 0.08374851828758874, 0.47552931271656435], "min": [0.0, -0.19999994337558746, -0.800000011920929, 0.3400000035762787, -2.6768434047698975, -1.856757640838623, 0.4696221649646759, -0.012958155944943428, -0.9688296914100647, -0.07016047090291977, -0.023184236139059067, 0.0], "max": [0.3499999940395355, 0.1499999761581421, 0.800000011920929, 0.3499999940395355, 2.3863587379455566, 2.165134906768799, 0.6967179775238037, 0.19284869730472565, 0.12998345494270325, 0.9945507645606995, 0.26023879647254944, 1.0], "count": [1809]}, "action_is_hold": {"mean": [0.13156440022111665, 0.13156440022111665, 0.13156440022111665, 0.13156440022111665, 0.146489773355445, 0.146489773355445, 0.146489773355445, 0.146489773355445, 0.146489773355445, 0.146489773355445, 0.146489773355445, 0.9917081260364843], "std": [0.3380165806814408, 0.3380165806814408, 0.3380165806814408, 0.3380165806814408, 0.35359654927292133, 0.35359654927292133, 0.35359654927292133, 0.35359654927292133, 0.35359654927292133, 0.35359654927292133, 0.35359654927292133, 0.09068141369480723], "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": [1809]}, "observation.state": {"mean": [-0.011109200787568087, 0.0015711222018850363, -0.025271381164387482, 0.07047525769509251, -0.004210262074372665, 0.6374504299141414, 0.7017124627030574, 0.8452471065679396, 0.8161754493491962, 1.8652616923128194, -1.4158540340073535, -1.4274218090994704, -1.4259154231196414, -1.4783423172300727, -0.9926589781273262, -0.5131804127071019, 0.46243417193014497, 0.5762952530052913, 0.02827277759192002, -0.028505245071252516, 0.855496617288145, 1.2012728674768693, 1.2308504706823447, 0.37518246907631686, -0.028505245071252516, -0.02827277759192002], "std": [0.05079506959319254, 0.05026112415666916, 0.0453940419403734, 0.041141468251726064, 0.21541292816225008, 0.06386455939440572, 0.0667705664745732, 0.0669200948210143, 0.05276278463037304, 0.26519499204808317, 0.040440444415052075, 0.04524844954149332, 0.05039382257091998, 0.05186608242538347, 0.2941911803289996, 0.6378368742584223, 0.2890648396356091, 0.7303562219380364, 0.009230248531325569, 0.008913547371182759, 1.637254003772821, 0.8319987390925766, 0.8196063840295746, 0.005203341890157771, 0.008913547371182759, 0.009230248531325569], "min": [-0.15926629304885864, -0.1865198314189911, -0.19586597383022308, -0.07552534341812134, -0.401795893907547, 0.4867405891418457, 0.4536924660205841, 0.6210360527038574, 0.6025661826133728, 1.553468108177185, -1.5303627252578735, -1.6040821075439453, -1.681580901145935, -1.6587430238723755, -1.390268087387085, -1.7426670789718628, 0.07128843665122986, -0.06018861010670662, 0.015433834865689278, -0.03500000014901161, -3.0037028789520264, -2.0382604598999023, -3.1388602256774902, 0.3512788712978363, -0.03500000014901161, -0.03500000014901161], "max": [0.12947572767734528, 0.18858414888381958, 0.1781288981437683, 0.22636137902736664, 0.3135656416416168, 0.8368381857872009, 0.8788471221923828, 1.046625018119812, 1.0075913667678833, 2.5156614780426025, -1.2532721757888794, -1.1916877031326294, -1.248733401298523, -1.2698636054992676, -0.44386574625968933, 0.024187501519918442, 0.8563284873962402, 1.97299063205719, 0.03500000014901161, -0.01603798195719719, 2.024286985397339, 1.68008291721344, 3.133653163909912, 0.38989347219467163, -0.01603798195719719, -0.015433834865689278], "count": [1809]}, "observation.joint_vel": {"mean": [0.00697823414587995, -0.0006988278337378614, 0.003559431700715976, -0.004927047502882781, 0.001020495745921215, 0.010584861659927197, -0.0034313700997784893, -0.0007860083887365123, 0.0016308741477647148, -0.0012616580159287806, -0.01556612495383313, -0.006500756513415396, 0.0026742406760176, -0.003799124222692252, -0.006851914108438624, 0.0015463876005984078, 0.005673297932070685, 0.009627871800719705, 0.003987102816633084, -0.00034862032557142817], "std": [0.46489250098016643, 0.4926196445765731, 0.5580968583026529, 0.5651725912777308, 0.08200384642241328, 0.9502098463787311, 0.9599581867318122, 0.847922575269983, 0.7546844421921056, 0.09801879634275025, 0.5792655580265902, 0.9339891820655243, 0.9284582770922382, 0.9563630259869254, 0.11967899088075071, 0.25095406243603496, 0.09551828611731027, 0.2669391781721618, 0.010144274616044736, 0.008574924959489878], "min": [-2.6864538192749023, -3.993762254714966, -2.906339168548584, -4.537920951843262, -0.66227126121521, -4.493251800537109, -4.3554205894470215, -3.139502763748169, -4.263840675354004, -0.47351664304733276, -3.2471065521240234, -5.652131080627441, -4.3007612228393555, -4.760079383850098, -0.7672684788703918, -2.2668585777282715, -0.8349670171737671, -1.5743366479873657, -0.2000938504934311, -0.20001284778118134], "max": [3.227327823638916, 3.735137462615967, 5.226038455963135, 2.8262386322021484, 0.6800811290740967, 1.8737837076187134, 2.320659637451172, 6.331821918487549, 5.858981609344482, 0.5139680504798889, 2.9313039779663086, 5.229537010192871, 3.886704444885254, 3.5736968517303467, 0.7401312589645386, 1.6047457456588745, 0.3110600709915161, 2.4177353382110596, 0.2000076323747635, 0.2003541886806488], "count": [1809]}, "observation.eef_pose": {"mean": [0.9434187882332746, 1.4872159923335682, 0.6237613948555267, 0.13322306092830571, -0.5196383714947732, 0.7482132299130319, 0.10713622757352605], "std": [1.5570001374145424, 0.8690549769077666, 0.06220327232048837, 0.04516417770488628, 0.2924956212448776, 0.21546576309320298, 0.08311077495258525], "min": [-2.6768434047698975, -1.856757640838623, 0.4693254232406616, -0.012800700962543488, -0.9690247178077698, -0.07088655233383179, -0.023267924785614014], "max": [2.386526346206665, 2.165391445159912, 0.6965488791465759, 0.19274979829788208, 0.13024744391441345, 0.9945778250694275, 0.26001161336898804], "count": [1809]}, "observation.environment_state": {"mean": [1.0, 1.9195983730804334, 2.1485717416534507, 0.4029173836515647, 0.9840204507820905, -0.0019431732359789608, -0.004178929466693732, 0.05816578569399302, 1.7693326523318482, 2.2200006485776127, 0.35500034161072663, 0.9999999648105248, 1.267127793703749e-07, -2.6230704391436897e-08, -1.0352394047543998e-05, -1.4080929500480723, 2.2200008243931926, 0.4100001000646335, 0.9965283792608017, -9.516764272535895e-06, -8.60033003133771e-06, 0.08325376466221411, -1.4080914127161122, 2.220000054969387, 0.35500010380170305, 0.9965283978110588, -2.0767525120888977e-06, -3.862158834227647e-06, 0.0832535428251925, 0.20000000298023224, 2.549999952316284, 0.7799999713897705, 1.0, 0.0, 0.0, 0.0, -1.5, 2.4000000953674316, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.899999976158142, 2.4000000953674316, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "std": [0.0, 0.15594314950854804, 0.14769001715580538, 0.05865820993125946, 0.056510747065064336, 0.003769605027162996, 0.008447386627839672, 0.15817781436179185, 1.4194930543666363e-05, 3.1926247298788348e-06, 1.034617408278482e-05, 1.1701608790667279e-06, 2.0552309866233982e-05, 0.0002644633738326593, 4.4380560753117834e-05, 3.403376319940593e-07, 5.25151655418706e-07, 3.942223415583716e-08, 1.0952381578192069e-07, 3.6014381048637687e-06, 2.0285752189104686e-06, 1.2915536778049103e-06, 7.156116819304229e-08, 1.005711536472054e-07, 3.269650515507972e-08, 4.688400106025324e-08, 1.0119139570500342e-06, 7.673824008834144e-07, 5.16390110893418e-07, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [1.0, 1.446673035621643, 1.5531771183013916, 0.3599999248981476, 0.6520060896873474, -0.014237535186111927, -0.03108181431889534, -0.0405731275677681, 1.7690484523773193, 2.2199864387512207, 0.35499992966651917, 0.9999526143074036, -6.680503429379314e-05, -0.005457685794681311, -0.00025515619199723005, -1.4080946445465088, 2.2199976444244385, 0.40999990701675415, 0.9965280294418335, -1.8969860320794396e-05, -1.7969356122193858e-05, 0.08324844390153885, -1.40809166431427, 2.2199997901916504, 0.3549998998641968, 0.9965282082557678, -8.876098036125768e-06, -7.770257980155293e-06, 0.0832516998052597, 0.20000000298023224, 2.549999952316284, 0.7799999713897705, 1.0, 0.0, 0.0, 0.0, -1.5, 2.4000000953674316, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.899999976158142, 2.4000000953674316, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "max": [1.0, 2.0219175815582275, 2.220076084136963, 0.5102652311325073, 1.0, 0.010169310495257378, 0.00985947996377945, 0.758152186870575, 1.769801378250122, 2.2200207710266113, 0.35536548495292664, 1.0, 0.0008693811250850558, 0.009732085280120373, 2.282882633153349e-05, -1.408089518547058, 2.2200026512145996, 0.41000035405158997, 0.9965288043022156, 1.1384203389752656e-05, 1.1147918485221453e-05, 0.08325780183076859, -1.408090591430664, 2.220000982284546, 0.35500025749206543, 0.9965285658836365, 1.5024696722321096e-06, 5.643850272463169e-06, 0.08325553685426712, 0.20000000298023224, 2.549999952316284, 0.7799999713897705, 1.0, 0.0, 0.0, 0.0, -1.5, 2.4000000953674316, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.899999976158142, 2.4000000953674316, 0.18000000715255737, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1809]}, "action.command": {"mean": [-0.7921165741188149, 0.31365868817699705, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 0.7914507772020726, 0.8101771716028452, 1.4009719508473275, 0.6254536700410855, 0.1296585959266543, -0.5014572579876901, 0.7503806883656212, 0.10387826239231158, 0.3333333333333333, -0.793414122499768, 0.32159949124764464, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.17386384119245338, 0.9731769108752883, 0.6560943490641753, 0.10237503803684629, -0.4006685046499308, 0.7741772916860911, 0.07355143716877, 0.0, -0.7795761081505236, 0.3463209165409692, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.17386384119245338, 0.9731769108752883, 0.6560943490641753, 0.10237503803684629, -0.4006685046499308, 0.7741772916860911, 0.07355143716877, 0.0, -0.7568134576276171, 0.3605366504373364, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.17386384119245338, 0.9731769108752883, 0.6560943490641753, 0.10237503803684629, -0.4006685046499308, 0.7741772916860911, 0.07355143716877, 0.0, -0.7418328337452158, 0.38499641638257237, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.17386384119245338, 0.9731769108752883, 0.6560943490641753, 0.10237503803684629, -0.4006685046499308, 0.7741772916860911, 0.07355143716877, 0.0, -0.7045077274264586, 0.4080372947932841, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 0.17386384119245338, 0.9731769108752883, 0.6560943490641753, 0.10237503803684629, -0.4006685046499308, 0.7741772916860911, 0.07355143716877, 0.0, -1.0502014299877862, 0.2479083899250649, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.05916074451588633, 0.854618264794201, 0.6645414429412518, 0.10562875548939678, -0.32793566935749124, 0.8481493888241691, 0.050202210575163345, 0.0, -1.6526926223034133, -0.07104365561964325, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5046429462650771, 0.6300616521851807, 0.6708060004011643, 0.10639725412641253, -0.25032467748712284, 0.9154092161336802, 0.02730812175813118, 0.0, -1.629732795574698, -0.04735461889140983, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5046429462650771, 0.6300616521851807, 0.6708060004011643, 0.10639725412641253, -0.25032467748712284, 0.9154092161336802, 0.02730812175813118, 0.0, -1.5636835021357383, -0.01806303652750182, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5046429462650771, 0.6300616521851807, 0.6708060004011643, 0.10639725412641253, -0.25032467748712284, 0.9154092161336802, 0.02730812175813118, 0.0, -1.5416166826327276, 0.0010999871472242974, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.5046429462650771, 0.6300616521851807, 0.6708060004011643, 0.10639725412641253, -0.25032467748712284, 0.9154092161336802, 0.02730812175813118, 0.0, -1.6784752510427459, -0.06561259738798064, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.6616840740529502, -0.05142039225353458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.5870275266771394, -0.016411538434222463, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.5731640038451529, -0.005663843658881459, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.4952156568930401, 0.03312141778992444, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.4844225947449847, 0.04008911334402193, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.4026032332482377, 0.0822069503427521, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.394758137939422, 0.0858271980673317, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.30932056186645, 0.12950037068467798, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.303999766004764, 0.13154777802102935, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.2400708448596116, 0.1306972021009864, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.2149900243534306, 0.17729649146397908, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.1971895102562944, 0.18053469270225464, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.1289838494081808, 0.22309352934845095, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.1188943836747147, 0.23033298612610112, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.035595431427161, 0.26877178554612446, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.0055940893849706, 0.2791347681991453, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.9496102156677866, 0.31456903180455775, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.9225506460763575, 0.32875982687725286, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.8651008545867795, 0.36039007562931963, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.834432788496095, 0.37806334418009935, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.7922854038758006, 0.4063991506409839, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.7508367538452149, 0.42603605239371944, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.7244203421158519, 0.47678332910305116, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.6828731143377661, 0.5044536459494412, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.6293486560263285, 0.529495649415303, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.5853860240641648, 0.560778486789242, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.5383237623586887, 0.5818757280828507, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.4800600968725313, 0.6178867952368123, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.447450355010304, 0.6342433552310719, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.3793024010774566, 0.6743881324078979, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.35746825710544744, 0.6865377868578686, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.28268195671763846, 0.7308735712756955, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.2698508516559756, 0.7386380304892858, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.18831758150240271, 0.7867580567918173, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.18352235526573368, 0.790632437884323, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.13177524892295278, 0.8367343393283162, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.09739755014093911, 0.8426101720914608, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.09399973706501286, 0.8431430751230659, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -0.011239146798606811, 0.8945906579979067, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, 7.62925884587978e-05, 0.8989606283544525, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, 0.07491920285108612, 0.9465711036348731, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, 0.0944112818415572, 0.9553016713964261, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, 0.16107767171006862, 0.9985516029644788, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, 0.18853485312888293, 1.0112151062585475, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, 0.2472361405690511, 1.0505321559867238, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, 0.2828223780887883, 1.067460200553987, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, 0.33339462125204444, 1.1025125897996795, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, 0.3658466073555675, 1.109891181069661, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -0.6494896338964865, 0.5669942409284716, 0.6702785112024323, 0.10657082259412703, -0.23296667633017873, 0.9204947809862897, 0.026039394717739243, 0.0, -1.4690792560577393, 1.0636471509933472, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.040146666743695, -0.13449667458714992, 0.6727403905847873, 0.105184804285046, -0.50054247316901, 0.8539611144186358, 0.0616475066526487, 0.0, -1.4451709985733032, 1.111973524093628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.040146666743695, -0.13449667458714992, 0.6727403905847873, 0.105184804285046, -0.50054247316901, 0.8539611144186358, 0.0616475066526487, 0.0, -1.417665958404541, 1.1675701141357422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.040146666743695, -0.13449667458714992, 0.6727403905847873, 0.105184804285046, -0.50054247316901, 0.8539611144186358, 0.0616475066526487, 0.0, -1.408091425895691, 1.2000000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.040146666743695, -0.13449667458714992, 0.6727403905847873, 0.105184804285046, -0.50054247316901, 0.8539611144186358, 0.0616475066526487, 0.0], "std": [2.024292856026671, 1.5571930920132233, 0.0, 0.0, 0.0, 0.0, 0.0, 1.471413077442331, 1.6131489140997666, 0.9100881130386151, 0.06089708590193484, 0.045424543402745404, 0.30961225540670606, 0.22933205198494225, 0.08573782748467558, 0.47140452079103173, 2.004163011017329, 1.5521544289836067, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.734342852978854, 0.9527347060434475, 0.030076591166566316, 0.02947057016808469, 0.3627393307801826, 0.28878822836864626, 0.09152408264939525, 0.0, 1.9791947926889633, 1.5217369468055262, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.734342852978854, 0.9527347060434475, 0.030076591166566316, 0.02947057016808469, 0.3627393307801826, 0.28878822836864626, 0.09152408264939525, 0.0, 1.9403063009244756, 1.505732616923972, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.734342852978854, 0.9527347060434475, 0.030076591166566316, 0.02947057016808469, 0.3627393307801826, 0.28878822836864626, 0.09152408264939525, 0.0, 1.9215912910215072, 1.480406096221693, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.734342852978854, 0.9527347060434475, 0.030076591166566316, 0.02947057016808469, 0.3627393307801826, 0.28878822836864626, 0.09152408264939525, 0.0, 1.8990940126836122, 1.4661914619476135, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.734342852978854, 0.9527347060434475, 0.030076591166566316, 0.02947057016808469, 0.3627393307801826, 0.28878822836864626, 0.09152408264939525, 0.0, 1.7554841574405284, 1.464974964225222, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.7432039010692917, 0.9657503907965743, 0.022126480843829788, 0.017342213799164737, 0.33057741265024915, 0.21096290990885364, 0.0730440575447457, 0.0, 1.2126806752529793, 1.393602859548283, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6318327677507145, 0.9377599322430068, 0.00514590410009674, 0.005688389502183165, 0.28436634808671385, 0.07160666882576205, 0.03568203573246268, 0.0, 1.212491981138442, 1.3738282571272231, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6318327677507145, 0.9377599322430068, 0.00514590410009674, 0.005688389502183165, 0.28436634808671385, 0.07160666882576205, 0.03568203573246268, 0.0, 1.228084755192893, 1.3452767722988273, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6318327677507145, 0.9377599322430068, 0.00514590410009674, 0.005688389502183165, 0.28436634808671385, 0.07160666882576205, 0.03568203573246268, 0.0, 1.2344839171220983, 1.3282589904360864, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.6318327677507145, 0.9377599322430068, 0.00514590410009674, 0.005688389502183165, 0.28436634808671385, 0.07160666882576205, 0.03568203573246268, 0.0, 0.9417461885141862, 1.2644451864479682, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 0.9426797392952617, 1.2484547189554458, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 0.9745437135344239, 1.2079441902646333, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 0.9762714348973799, 1.195797887976978, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.0073378578434564, 1.151070248254678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.010063719364907, 1.1431379135302269, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.041285373300944, 1.09465762504872, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.0446916177820538, 1.0904644755493063, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.0775971921120464, 1.0401748541499185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.0803098125145596, 1.0377750829838859, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.138008158747487, 1.0366513227139367, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.1143447964608975, 0.9851111050633109, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.1269823101569891, 0.9810147210085979, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.1456609360856933, 0.9324909281117205, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.1474927885437485, 0.9242852599200049, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.183659835440214, 0.8797632208191957, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.2001202125243198, 0.8675183144544454, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.2149570011940105, 0.8271433404212212, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.2250248481578607, 0.8108250922176589, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.24491810950502, 0.7745448415389109, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.2547597898541387, 0.7543192918657583, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.2642927727173647, 0.7221166978809177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.280259856957341, 0.6963231909753597, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.2791859621777866, 0.6917547232203813, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.291654247553308, 0.6659810779932067, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.3187086856035783, 0.6453947930885365, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.329824968219083, 0.6157387457746966, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.3545681563575387, 0.5987341056938508, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.3749472911480707, 0.5659127674182807, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.3902903820983135, 0.5520621529686905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.4161743230288837, 0.5160230077930501, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.4252058337285691, 0.5053239649935579, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.4533204806090463, 0.46544051375006673, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.45798058343116, 0.45840997632833563, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.488855076877399, 0.4151848773949977, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.4895885132788516, 0.41140023050071517, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.4930551657314006, 0.36545249506650107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.5210120460885315, 0.3643753233695156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.5238247978192643, 0.36432576926039223, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.552465886677681, 0.3173529072886787, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.559143147191324, 0.31410021826958867, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.5839197865775672, 0.27033053569088844, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.5941754409460034, 0.26329640255656606, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.6153736864774513, 0.22330810478237648, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.6294415375710363, 0.21296493744205167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.646827586377339, 0.1762856145631397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.6645262620049293, 0.16226710999114774, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.6782816048986757, 0.12926312434390166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 1.6896489794602974, 0.09953733132666487, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.5617986855741388, 0.926438806104094, 0.0046882405635221384, 0.005669960560156767, 0.2830088155051192, 0.0702592537484844, 0.03630278593470462, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45349745869069946, 0.9909143418220373, 0.004111086281467261, 0.0062321688839668266, 0.06602188161662927, 0.02979646253321964, 0.007593464619230669, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45349745869069946, 0.9909143418220373, 0.004111086281467261, 0.0062321688839668266, 0.06602188161662927, 0.02979646253321964, 0.007593464619230669, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45349745869069946, 0.9909143418220373, 0.004111086281467261, 0.0062321688839668266, 0.06602188161662927, 0.02979646253321964, 0.007593464619230669, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45349745869069946, 0.9909143418220373, 0.004111086281467261, 0.0062321688839668266, 0.06602188161662927, 0.02979646253321964, 0.007593464619230669, 0.0], "min": [-3.003671646118164, -2.0382604598999023, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, -1.0, -2.6768434047698975, -1.856757640838623, 0.4696221649646759, -0.012958155944943428, -0.9688296914100647, -0.07016047090291977, -0.023184236139059067, 0.0, -2.9956398010253906, -2.0220255851745605, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.5923967361450195, -0.012958155944943428, -0.9688296914100647, -0.07016047090291977, -0.023184236139059067, 0.0, -2.9600670337677, -1.950121283531189, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.5923967361450195, -0.012958155944943428, -0.9688296914100647, -0.07016047090291977, -0.023184236139059067, 0.0, -2.9403693675994873, -1.9103059768676758, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.5923967361450195, -0.012958155944943428, -0.9688296914100647, -0.07016047090291977, -0.023184236139059067, 0.0, -2.908653736114502, -1.8461982011795044, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.5923967361450195, -0.012958155944943428, -0.9688296914100647, -0.07016047090291977, -0.023184236139059067, 0.0, -2.8849403858184814, -1.798265814781189, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.5923967361450195, -0.012958155944943428, -0.9688296914100647, -0.07016047090291977, -0.023184236139059067, 0.0, -2.8572404384613037, -1.7422752380371094, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.5985366702079773, 0.026733849197626114, -0.9677063822746277, 0.06958972662687302, -0.023184236139059067, 0.0, -2.8295648097991943, -1.6863337755203247, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.09333564341068268, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.8058271408081055, -1.6383522748947144, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.09333564341068268, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.7742412090301514, -1.5745069980621338, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.09333564341068268, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.754413604736328, -1.5344290733337402, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.09333564341068268, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.7187602519989014, -1.4623619318008423, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.70300030708313, -1.4305061101913452, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.663541793823242, -1.3507479429244995, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.6515867710113525, -1.3265830278396606, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.6079554557800293, -1.2383900880813599, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.6001734733581543, -1.2226600646972656, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.552842617034912, -1.1269892454147339, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.548760175704956, -1.1187371015548706, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.499671220779419, -1.0195122957229614, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.497346878051758, -1.014814019203186, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.4971535205841064, -1.0144232511520386, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.4459333419799805, -0.9108908772468567, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.4420926570892334, -0.9031276702880859, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.3945200443267822, -0.8069677948951721, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.3864541053771973, -0.7906640768051147, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.343106508255005, -0.7030447125434875, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.3312878608703613, -0.6791555881500244, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.2916932106018066, -0.5991217494010925, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.275754928588867, -0.5669052600860596, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.2402799129486084, -0.4951986074447632, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.2204833030700684, -0.4551835060119629, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.188866376876831, -0.3912756145000458, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.165055513381958, -0.34314632415771484, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.1374528408050537, -0.2873525619506836, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.1096785068511963, -0.2312117964029312, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.0860393047332764, -0.18342947959899902, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.054356098175049, -0.11938755959272385, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -2.034626007080078, -0.07950641214847565, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.9988738298416138, -0.007239773869514465, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.9832125902175903, 0.024416647851467133, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.9436569213867188, 0.10437149554491043, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.931799292564392, 0.12833967804908752, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.8880693912506104, 0.21673208475112915, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.8803859949111938, 0.2322627156972885, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.8329577445983887, 0.32813066244125366, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.8289726972579956, 0.3361856937408447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.781054973602295, 0.4330430328845978, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.7775593996047974, 0.4401087462902069, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.777268648147583, 0.4406963884830475, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.7261459827423096, 0.5440317988395691, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.722206473350525, 0.551994800567627, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.6747326850891113, 0.6479547619819641, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.6665693521499634, 0.6644554734230042, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.6233192682266235, 0.7518778443336487, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.611401915550232, 0.7759667634963989, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.5719058513641357, 0.8558010458946228, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.5558701753616333, 0.8882144093513489, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.5204925537109375, 0.9597241282463074, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.500597357749939, 0.9999388456344604, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.093691885471344, -0.5889003276824951, 0.7998578548431396, -0.023184236139059067, 0.0, -1.4690792560577393, 1.0636471509933472, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.09506165236234665, -0.5836935639381409, 0.8030276894569397, 0.036684684455394745, 0.0, -1.4451709985733032, 1.111973524093628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.09506165236234665, -0.5836935639381409, 0.8030276894569397, 0.036684684455394745, 0.0, -1.417665958404541, 1.1675701141357422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.09506165236234665, -0.5836935639381409, 0.8030276894569397, 0.036684684455394745, 0.0, -1.408091425895691, 1.2000000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -2.6768434047698975, -1.856757640838623, 0.6513636112213135, 0.09506165236234665, -0.5836935639381409, 0.8030276894569397, 0.036684684455394745, 0.0], "max": [2.0163981914520264, 1.6602727174758911, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3863587379455566, 2.165134906768799, 0.6967179775238037, 0.19284869730472565, 0.12998345494270325, 0.9945507645606995, 0.26023879647254944, 1.0, 1.9562228918075562, 1.6549268960952759, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3863587379455566, 1.9892537593841553, 0.6967179775238037, 0.18997707962989807, 0.12998345494270325, 0.9945507645606995, 0.26023879647254944, 0.0, 1.983696460723877, 1.662005066871643, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3863587379455566, 1.9892537593841553, 0.6967179775238037, 0.18997707962989807, 0.12998345494270325, 0.9945507645606995, 0.26023879647254944, 0.0, 2.0166234970092773, 1.6799203157424927, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3863587379455566, 1.9892537593841553, 0.6967179775238037, 0.18997707962989807, 0.12998345494270325, 0.9945507645606995, 0.26023879647254944, 0.0, 2.065737724304199, 1.6822617053985596, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3863587379455566, 1.9892537593841553, 0.6967179775238037, 0.18997707962989807, 0.12998345494270325, 0.9945507645606995, 0.26023879647254944, 0.0, 2.1067585945129395, 1.6923868656158447, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3863587379455566, 1.9892537593841553, 0.6967179775238037, 0.18997707962989807, 0.12998345494270325, 0.9945507645606995, 0.26023879647254944, 0.0, 2.0976755619049072, 1.7662063837051392, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.3863587379455566, 1.9892537593841553, 0.6967179775238037, 0.17076155543327332, 0.12998345494270325, 0.9945507645606995, 0.2539198398590088, 0.0, 1.9150527715682983, 1.5229367017745972, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.8638110160827637, 0.6881310343742371, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.9401565790176392, 1.5854578018188477, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.8638110160827637, 0.6881310343742371, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.9615933895111084, 1.6388463973999023, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.8638110160827637, 0.6881310343742371, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 2.0215609073638916, 1.6799999475479126, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.8638110160827637, 0.6881310343742371, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.8259339928627014, 1.079060673713684, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.8082976937294006, 1.0787770748138428, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.7047954201698303, 1.0771126747131348, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.6893678307533264, 1.0768646001815796, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.5832957625389099, 1.075158953666687, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.5700350403785706, 1.0749456882476807, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.4599514305591583, 1.0731754302978516, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.44902274012565613, 1.0729997158050537, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.33379650115966797, 1.071146845817566, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.3260200321674347, 1.0710217952728271, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.20985811948776245, 1.069153904914856, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.20619919896125793, 1.0690950155258179, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.17695823311805725, 1.0686248540878296, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.09184323996305466, 1.067256212234497, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -0.08009544014930725, 1.067067265510559, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.03594471141695976, 1.0652012825012207, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.08084725588560104, 1.0644792318344116, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.15026253461837769, 1.063362956047058, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.18643629550933838, 1.0627812147140503, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.26189500093460083, 1.061567783355713, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.3014725148677826, 1.0609313249588013, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.3522498905658722, 1.060114860534668, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.4081531763076782, 1.0564014911651611, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.4335974156856537, 1.103013038635254, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.48643189668655396, 1.1073510646820068, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.5644481182098389, 1.113756775856018, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.6184740662574768, 1.1181926727294922, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.6879357695579529, 1.1238960027694702, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.7646481990814209, 1.1301946640014648, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.8111476898193359, 1.1340125799179077, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.9027277827262878, 1.1415319442749023, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 0.9327379465103149, 1.143996000289917, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.0329757928848267, 1.152226209640503, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.0500255823135376, 1.1536260843276978, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.1595088243484497, 1.162615418434143, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.1649680137634277, 1.163063645362854, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.219853401184082, 1.1675701141357422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.2795398235321045, 1.1724708080291748, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.285483956336975, 1.1729588508605957, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.3941726684570312, 1.1818829774856567, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.4115328788757324, 1.1833083629608154, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.508805513381958, 1.1912951469421387, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.5375818014144897, 1.1936578750610352, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.6234384775161743, 1.2007073163986206, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.6636309623718262, 1.2040073871612549, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.7380714416503906, 1.2101194858551025, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.7896798849105835, 1.2143568992614746, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.8527045249938965, 1.219531536102295, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, 1.8954471349716187, 1.2000000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 2.166362762451172, 1.5618976354599, 0.6851789951324463, 0.1254611313343048, 0.12998345494270325, 0.9945507645606995, 0.06879907101392746, 0.0, -1.4690792560577393, 1.0636471509933472, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.2999391555786133, 1.4541997909545898, 0.6796599626541138, 0.1254611313343048, -0.2511395812034607, 0.9591993689537048, 0.06879907101392746, 0.0, -1.4451709985733032, 1.111973524093628, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.2999391555786133, 1.4541997909545898, 0.6796599626541138, 0.1254611313343048, -0.2511395812034607, 0.9591993689537048, 0.06879907101392746, 0.0, -1.417665958404541, 1.1675701141357422, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.2999391555786133, 1.4541997909545898, 0.6796599626541138, 0.1254611313343048, -0.2511395812034607, 0.9591993689537048, 0.06879907101392746, 0.0, -1.408091425895691, 1.2000000476837158, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, -1.2999391555786133, 1.4541997909545898, 0.6796599626541138, 0.1254611313343048, -0.2511395812034607, 0.9591993689537048, 0.06879907101392746, 0.0], "count": [1809]}, "action.applied": {"mean": [0.2812969719691458, 0.6980714872932486, -1.182339227713558, -0.23104810218428168, 0.6876356673543792, -1.1852006892462077, 0.17158138532461284, 0.8527240960093214, -1.3102291429682025, -0.18752161478299406, 0.7427206930038743, -1.3045947017624868, -0.00417214144773194, 1.8651093405343473, -0.9935961726820225, -0.5132209268758874, 0.4628907709226482, 0.5767316296924273, 0.005436705385225131, -0.005436705385225131], "std": [0.13629179066524955, 0.08591348949487612, 0.13474054646191058, 0.12746622832349602, 0.0992433838436688, 0.11361191841533981, 0.12040650048013193, 0.11089991549353358, 0.13467255051067192, 0.11666573942145704, 0.0925623929550076, 0.13098940059508943, 0.21561739147019549, 0.2651997748440946, 0.29474303485073455, 0.6378845688110798, 0.28951159881874505, 0.7308448592890479, 0.01267781226581623, 0.01267781226581623], "min": [-0.22700393199920654, 0.44104039669036865, -1.7660573720932007, -0.6305024027824402, 0.38353589177131653, -1.5824729204177856, -0.23563885688781738, 0.4701669216156006, -1.7498334646224976, -0.5527514219284058, 0.6004375219345093, -1.7739520072937012, -0.40515315532684326, 1.5530877113342285, -1.3899333477020264, -1.7417131662368774, 0.07149818539619446, -0.07355721294879913, 0.0, -0.03500000014901161], "max": [0.7123614549636841, 0.9062502384185791, -0.8798207640647888, 0.1844315081834793, 0.999276876449585, -0.8510006070137024, 0.6236138939857483, 1.090481162071228, -0.961764395236969, 0.3369426727294922, 1.1317384243011475, -0.9531440734863281, 0.31382158398628235, 2.5149261951446533, -0.4445141851902008, 0.03121049515902996, 0.8575748205184937, 1.9762532711029053, 0.03500000014901161, 0.0], "count": [1809]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1809]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1809]}, "sim_step_idx": {"mean": [1899.0], "std": [1044.426477386832], "min": [91.0], "max": [3707.0], "count": [1809]}, "timestamp": {"mean": [36.16000000134135], "std": [20.88852954649065], "min": [0.0], "max": [72.31999969482422], "count": [1809]}, "frame_index": {"mean": [904.0], "std": [522.213238693416], "min": [0.0], "max": [1808.0], "count": [1809]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1809]}, "index": {"mean": [904.0], "std": [522.213238693416], "min": [0.0], "max": [1808.0], "count": [1809]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [1809]}, "next.done": {"mean": [0.000552791597567717], "std": [0.023505021144797456], "min": [0.0], "max": [1.0], "count": [1809]}, "observation.images.head": {"mean": [[[0.49779871510899204]], [[0.4760474324388852]], [[0.44115298815571674]]], "std": [[[0.14961041622778404]], [[0.14400906293722895]], [[0.15123361589522016]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8509803921568627]], [[0.8509803921568627]], [[0.8509803921568627]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.5416149624536757]], [[0.49418385135586096]], [[0.4207215229488398]]], "std": [[[0.12232645470807159]], [[0.11557586240473657]], [[0.1148896285171577]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9215686274509803]], [[0.9176470588235294]], [[0.9137254901960784]]], "count": [100]}}}