# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
# fmt:off
cam_angvel = {
    "manual": {
        "mean": [1., 0., 0., 0., 1., 0.],
        "std": [0.001, 0.1, 0.1, 0.1, 0.001, 0.1],  # manually
    }
}
# fmt:on

DEFAULT_01 = {"mean": [0.0], "std": [1.0]}

# SOMA v2 compatibility stats (76*6 + 45 + 69 + 6 + 6 + 3 = 585)
# Identity normalization stats for SOMA v2 (76*6 + 45 + 69 + 6 + 6 + 3 = 585)
MM_V2_SOMA_METROSIM = {
    "mean": [
        0.999,
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        -0.0,
        -0.0001,
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        -0.0134,
        0.9987,
        -0.0001,
        -0.0,
        0.0001,
        0.996,
        0.035,
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        -0.0001,
        -0.0001,
        0.0,
        0.9636,
        -0.2372,
        0.9986,
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        0.0,
        -0.0001,
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        -0.0,
        -0.0,
        0.0,
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        1.0,
        0.0,
        -0.0,
        -0.0,
        1.0,
        -0.0,
        0.9978,
        -0.0017,
        -0.0415,
        0.013,
        0.9657,
        0.2076,
        0.9978,
        0.0017,
        0.0406,
        -0.013,
        0.9657,
        0.2075,
        0.9528,
        -0.0339,
        -0.1586,
        -0.0073,
        0.9293,
        -0.2845,
        0.4238,
        0.6552,
        -0.3842,
        -0.6733,
        0.4721,
        0.1809,
        0.505,
        0.0001,
        -0.6147,
        -0.0004,
        1.0,
        -0.0004,
        0.9318,
        -0.1589,
        0.017,
        0.1508,
        0.827,
        0.0806,
        0.9309,
        -0.0037,
        0.2133,
        0.0573,
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        1.0,
        -0.0,
        0.9978,
        -0.0099,
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        1.0,
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        -0.0,
        1.0,
        0.0,
        0.9921,
        -0.1106,
        0.0063,
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        0.9861,
        0.1121,
        0.6611,
        0.6198,
        0.041,
        -0.5859,
        0.6446,
        -0.2838,
        0.7696,
        0.3979,
        -0.003,
        -0.4206,
        0.7741,
        0.0095,
        0.9086,
        0.2221,
        0.0387,
        -0.2047,
        0.8937,
        0.0498,
        1.0,
        -0.0,
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        1.0,
        -0.0,
        0.471,
        0.5236,
        0.0747,
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        0.6836,
        -0.323,
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        0.7398,
        0.0903,
        0.7573,
        -0.0007,
        0.3016,
        0.0007,
        1.0,
        0.0002,
        0.9664,
        0.0778,
        -0.0097,
        -0.074,
        0.9079,
        0.1216,
        0.4483,
        0.1466,
        0.3452,
        0.5082,
        0.6555,
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        0.8333,
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        0.8069,
        0.3015,
        0.255,
        -0.3233,
        0.8586,
        0.0548,
        0.8273,
        -0.1374,
        -0.1188,
        0.1018,
        0.7951,
        -0.2702,
        0.8847,
        -0.231,
        0.0482,
        0.2456,
        0.8944,
        0.0182,
        0.9371,
        -0.2093,
        -0.011,
        0.1872,
        0.9181,
        0.1063,
        0.9467,
        -0.0578,
        -0.2139,
        0.0783,
        0.9909,
        0.0314,
        0.6115,
        0.3537,
        0.3482,
        -0.3599,
        0.8057,
        -0.1105,
        0.8016,
        -0.2281,
        -0.158,
        0.195,
        0.7912,
        -0.2213,
        0.8331,
        0.0287,
        0.0016,
        -0.007,
        0.8442,
        -0.0447,
        0.9515,
        -0.0743,
        -0.035,
        0.0464,
        0.9255,
        0.0898,
        0.9178,
        -0.1704,
        -0.216,
        0.1947,
        0.96,
        0.0145,
        0.7369,
        0.3131,
        -0.0161,
        0.4068,
        0.238,
        0.2757,
        0.896,
        0.1835,
        -0.0614,
        -0.1811,
        0.7995,
        -0.1634,
        0.9548,
        0.0561,
        -0.0389,
        -0.1051,
        0.6438,
        -0.3873,
        0.9997,
        -0.0009,
        -0.0111,
        0.0014,
        0.9933,
        -0.0016,
        1.0,
        -0.0,
        0.0,
        0.0,
        0.9998,
        -0.0175,
        0.9732,
        0.0612,
        -0.0692,
        -0.0469,
        0.9544,
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        1.0,
        -0.0,
        0.0,
        0.0,
        0.8902,
        -0.217,
        0.9845,
        -0.0425,
        -0.019,
        0.0465,
        0.6531,
        -0.411,
        0.972,
        -0.0506,
        -0.0691,
        -0.063,
        0.0287,
        0.0201,
        1.0,
        0.0005,
        -0.0002,
        -0.0005,
        0.8806,
        -0.2412,
        -0.1917,
        -0.0688,
        -0.0034,
        -0.028,
        0.0235,
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        0.0157,
        0.0121,
        -0.0014,
        0.0032,
        -0.0045,
        0.0071,
        0.001,
        0.0086,
        -0.0033,
        -0.0016,
        0.0,
        -0.0025,
        -0.0028,
        0.0022,
        -0.0382,
        -0.0039,
        0.0062,
        0.005,
        0.0007,
        -0.002,
        -0.0049,
        0.0012,
        0.0004,
        -0.004,
        -0.0031,
        0.0023,
        0.0024,
        0.0001,
        -0.0019,
        -0.0025,
        -0.0016,
        0.0005,
        -0.0005,
        -0.0025,
        -0.0098,
        -0.0007,
        -0.0005,
        -0.0008,
        0.0006,
        1,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
        0,
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        0,
        0,
        0,
        0,
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        -0.9279,
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    ],
    "std": [
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        0.0416,
        0.0138,
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        0.0186,
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