{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "1ef5d0a4",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:55:18.707707Z",
     "iopub.status.busy": "2026-04-18T21:55:18.707296Z",
     "iopub.status.idle": "2026-04-18T21:55:18.713153Z",
     "shell.execute_reply": "2026-04-18T21:55:18.712695Z"
    },
    "lines_to_next_cell": 0
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "'Doppler and Mobility tutorial.'"
      ]
     },
     "execution_count": 1,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "\"\"\"Doppler and Mobility tutorial.\"\"\""
   ]
  },
  {
   "cell_type": "markdown",
   "id": "68c17328",
   "metadata": {},
   "source": [
    "# Doppler and Mobility.\n",
    "\n",
    "[![Open in Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/DeepMIMO/DeepMIMO/blob/main/docs/tutorials/5_doppler_mobility.py)\n",
    " \n",
    "[![GitHub](https://img.shields.io/badge/Open_on-GitHub-181717?logo=github&style=for-the-badge)](https://github.com/DeepMIMO/DeepMIMO/blob/main/docs/tutorials/5_doppler_mobility.py)\n",
    "\n",
    "---\n",
    "\n",
    "**Tutorial Overview:**\n",
    "There are three ways to configure Doppler effects. In order of increasing complexity:\n",
    "1. Set Doppler Directly - Configure Doppler shifts (Hz) manually, per user and path\n",
    "2. Set Speeds - Define user/object velocities (m/s), which will be converted to Doppler shifts\n",
    "per user and path depending on the paths that interact with the user/object.\n",
    "3. Set Timestamps - Configure time evolution between scenes - this computes the velocities of\n",
    "users/objects across scenes given the timestamps (Note: requires dynamic datasets)\n",
    "\n",
    "**Related Video:** [Doppler Video](https://youtu.be/xsl6gjTEu2U)\n",
    "\n",
    "---"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "6af7909f",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:55:18.715080Z",
     "iopub.status.busy": "2026-04-18T21:55:18.714919Z",
     "iopub.status.idle": "2026-04-18T21:55:19.280325Z",
     "shell.execute_reply": "2026-04-18T21:55:19.279639Z"
    }
   },
   "outputs": [],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "\n",
    "import deepmimo as dm"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "380453b6",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:55:19.282684Z",
     "iopub.status.busy": "2026-04-18T21:55:19.282443Z",
     "iopub.status.idle": "2026-04-18T21:55:19.496230Z",
     "shell.execute_reply": "2026-04-18T21:55:19.495851Z"
    }
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Scenario \"asu_campus_3p5\" already exists in /home/joao/DeepMIMO/docs/tutorials/deepmimo_scenarios\n",
      "Loading TXRX PAIR: TXset 1 (tx_idx 0) & RXset 0 (rx_idxs 131931)\n"
     ]
    }
   ],
   "source": [
    "# Load dataset\n",
    "scen_name = \"asu_campus_3p5\"\n",
    "dm.download(scen_name)\n",
    "dataset = dm.load(scen_name)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "2bf52f04",
   "metadata": {},
   "source": [
    "## Set Doppler Directly\n",
    "\n",
    "Manually configure Doppler frequency shifts."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "0c104f04",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:55:19.498050Z",
     "iopub.status.busy": "2026-04-18T21:55:19.497900Z",
     "iopub.status.idle": "2026-04-18T21:55:19.500520Z",
     "shell.execute_reply": "2026-04-18T21:55:19.500158Z"
    }
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Doppler enabled: True\n"
     ]
    }
   ],
   "source": [
    "# Create channel parameters with Doppler enabled\n",
    "ch_params = dm.ChannelParameters()\n",
    "ch_params.enable_doppler = True\n",
    "\n",
    "print(f\"Doppler enabled: {ch_params.enable_doppler}\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "f14677c5",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:55:19.502056Z",
     "iopub.status.busy": "2026-04-18T21:55:19.501924Z",
     "iopub.status.idle": "2026-04-18T21:55:19.520138Z",
     "shell.execute_reply": "2026-04-18T21:55:19.519669Z"
    }
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Doppler shape: (131931, 10)\n",
      "Sample Doppler values: [100. 100. 100. 100. 100.] Hz\n"
     ]
    }
   ],
   "source": [
    "# Set Doppler shifts directly for each user and path\n",
    "num_users = len(dataset.power)\n",
    "num_paths = dataset.power.shape[1]\n",
    "\n",
    "# Example: Set constant Doppler shift\n",
    "doppler_shifts = np.ones((num_users, num_paths)) * 100  # 100 Hz\n",
    "dataset.set_doppler(doppler_shifts)\n",
    "\n",
    "print(f\"Doppler shape: {dataset.doppler.shape}\")\n",
    "print(f\"Sample Doppler values: {dataset.doppler[0, :5]} Hz\")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "fad579cb",
   "metadata": {},
   "source": [
    "## Set Speeds\n",
    "\n",
    "Define velocities for users or objects."
   ]
  },
  {
   "cell_type": "markdown",
   "id": "22fc012a",
   "metadata": {},
   "source": [
    "### User Velocity"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "12442b1b",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:55:19.522271Z",
     "iopub.status.busy": "2026-04-18T21:55:19.522123Z",
     "iopub.status.idle": "2026-04-18T21:55:19.526456Z",
     "shell.execute_reply": "2026-04-18T21:55:19.525848Z"
    }
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "User velocities shape: (131931, 3)\n",
      "First user velocity: [5. 0. 0.] m/s\n"
     ]
    }
   ],
   "source": [
    "# Set velocity for receivers (users)\n",
    "# Velocity in [vx, vy, vz] format (m/s)\n",
    "user_velocity = np.array([5.0, 0.0, 0.0])  # 5 m/s in x-direction\n",
    "\n",
    "# Apply to all users\n",
    "velocities = np.tile(user_velocity, (num_users, 1))\n",
    "dataset.rx_vel = velocities\n",
    "\n",
    "print(f\"User velocities shape: {velocities.shape}\")\n",
    "print(f\"First user velocity: {velocities[0]} m/s\")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "26a31084",
   "metadata": {},
   "source": [
    "### Object Velocity"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "65424dc6",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:55:19.528070Z",
     "iopub.status.busy": "2026-04-18T21:55:19.527929Z",
     "iopub.status.idle": "2026-04-18T21:55:19.530680Z",
     "shell.execute_reply": "2026-04-18T21:55:19.529902Z"
    }
   },
   "outputs": [],
   "source": [
    "# Set velocity for transmitter (BS)\n",
    "tx_velocity = np.array([0.0, 0.0, 0.0])  # Stationary BS\n",
    "\n",
    "dataset.tx_vel = tx_velocity"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "43e3a638",
   "metadata": {},
   "source": [
    "### Calculate Doppler from Velocities"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "4438c532",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:55:19.532197Z",
     "iopub.status.busy": "2026-04-18T21:55:19.532065Z",
     "iopub.status.idle": "2026-04-18T21:56:31.819111Z",
     "shell.execute_reply": "2026-04-18T21:56:31.818622Z"
    }
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The following parameters seem unnecessary:\n",
      "{'enable_doppler'}\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   0%|          | 0/131931 [00:00<?, ?it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   1%|          | 1203/131931 [00:00<00:10, 12011.54it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   2%|▏         | 2407/131931 [00:00<00:10, 12018.49it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   3%|▎         | 3609/131931 [00:00<00:11, 10743.66it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   4%|▎         | 4698/131931 [00:00<00:12, 10352.12it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   4%|▍         | 5742/131931 [00:00<00:13, 9356.02it/s] "
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   5%|▌         | 6694/131931 [00:00<00:14, 8941.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   6%|▌         | 7598/131931 [00:00<00:18, 6660.87it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   6%|▋         | 8342/131931 [00:01<00:19, 6343.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   7%|▋         | 9026/131931 [00:01<00:20, 6102.97it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   7%|▋         | 9721/131931 [00:01<00:19, 6306.87it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   8%|▊         | 10379/131931 [00:01<00:20, 5801.52it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   8%|▊         | 10981/131931 [00:01<00:21, 5733.82it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   9%|▉         | 11569/131931 [00:01<00:21, 5674.50it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:   9%|▉         | 12146/131931 [00:01<00:22, 5410.50it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  10%|▉         | 12774/131931 [00:01<00:21, 5641.33it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  10%|█         | 13429/131931 [00:01<00:20, 5889.97it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  11%|█         | 14026/131931 [00:02<00:21, 5594.01it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  11%|█         | 14610/131931 [00:02<00:20, 5661.50it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  12%|█▏        | 15182/131931 [00:02<00:22, 5290.60it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  12%|█▏        | 15719/131931 [00:02<00:22, 5209.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  12%|█▏        | 16245/131931 [00:02<00:22, 5166.79it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  13%|█▎        | 16765/131931 [00:02<00:23, 4809.03it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  13%|█▎        | 17252/131931 [00:02<00:27, 4133.19it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  14%|█▎        | 17833/131931 [00:02<00:25, 4550.11it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  14%|█▍        | 18493/131931 [00:02<00:22, 5086.79it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  14%|█▍        | 19024/131931 [00:03<00:27, 4149.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  15%|█▍        | 19571/131931 [00:03<00:25, 4464.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  15%|█▌        | 20149/131931 [00:03<00:23, 4799.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  16%|█▌        | 20913/131931 [00:03<00:19, 5554.70it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  16%|█▋        | 21619/131931 [00:03<00:18, 5967.79it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  17%|█▋        | 22242/131931 [00:03<00:18, 5967.26it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  17%|█▋        | 22926/131931 [00:03<00:17, 6213.34it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  18%|█▊        | 23622/131931 [00:03<00:16, 6427.74it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  19%|█▊        | 24534/131931 [00:03<00:14, 7212.09it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  19%|█▉        | 25490/131931 [00:04<00:13, 7901.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  20%|██        | 26568/131931 [00:04<00:12, 8753.24it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  21%|██        | 27687/131931 [00:04<00:11, 9476.51it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  22%|██▏       | 28640/131931 [00:04<00:11, 8949.75it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  22%|██▏       | 29639/131931 [00:04<00:11, 9243.30it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  23%|██▎       | 30572/131931 [00:04<00:11, 8828.17it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  24%|██▍       | 31489/131931 [00:04<00:11, 8920.36it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  25%|██▍       | 32470/131931 [00:04<00:10, 9175.05it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  25%|██▌       | 33394/131931 [00:04<00:11, 8898.38it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  26%|██▌       | 34539/131931 [00:05<00:10, 9624.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  27%|██▋       | 35738/131931 [00:05<00:09, 10310.24it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  28%|██▊       | 36855/131931 [00:05<00:09, 10559.75it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  29%|██▊       | 37917/131931 [00:05<00:09, 10310.86it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  30%|██▉       | 38977/131931 [00:05<00:08, 10393.90it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  30%|███       | 40020/131931 [00:05<00:09, 10191.81it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  31%|███       | 41043/131931 [00:05<00:09, 9908.18it/s] "
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  32%|███▏      | 42038/131931 [00:05<00:09, 9434.02it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  33%|███▎      | 42988/131931 [00:05<00:09, 9068.69it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  33%|███▎      | 43901/131931 [00:06<00:10, 8560.76it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  34%|███▍      | 44764/131931 [00:06<00:10, 8200.47it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  35%|███▍      | 45590/131931 [00:06<00:10, 7970.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  35%|███▌      | 46391/131931 [00:06<00:10, 7928.74it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  36%|███▌      | 47454/131931 [00:06<00:09, 8683.05it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  37%|███▋      | 48461/131931 [00:06<00:09, 9074.89it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  38%|███▊      | 49570/131931 [00:06<00:08, 9654.72it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  39%|███▊      | 51078/131931 [00:06<00:07, 11238.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  40%|███▉      | 52460/131931 [00:06<00:06, 11996.11it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  41%|████      | 53722/131931 [00:06<00:06, 12180.28it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  42%|████▏     | 54946/131931 [00:07<00:06, 11616.40it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  43%|████▎     | 56117/131931 [00:07<00:06, 11103.25it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  43%|████▎     | 57268/131931 [00:07<00:06, 11215.78it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  44%|████▍     | 58398/131931 [00:07<00:06, 10517.31it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  45%|████▌     | 59462/131931 [00:07<00:07, 9920.51it/s] "
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  46%|████▌     | 60467/131931 [00:07<00:07, 9394.57it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  47%|████▋     | 61470/131931 [00:07<00:07, 9562.95it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  47%|████▋     | 62436/131931 [00:07<00:07, 9208.55it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  48%|████▊     | 63365/131931 [00:07<00:07, 8654.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  49%|████▊     | 64240/131931 [00:08<00:08, 7878.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  49%|████▉     | 65043/131931 [00:08<00:08, 7441.43it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  50%|████▉     | 65798/131931 [00:08<00:09, 7053.39it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  50%|█████     | 66511/131931 [00:08<00:09, 6566.72it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  51%|█████     | 67175/131931 [00:08<00:09, 6555.44it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  52%|█████▏    | 67945/131931 [00:08<00:09, 6858.50it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  52%|█████▏    | 68638/131931 [00:08<00:09, 6717.56it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  53%|█████▎    | 69475/131931 [00:08<00:08, 7172.63it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  53%|█████▎    | 70200/131931 [00:09<00:08, 7040.79it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  54%|█████▍    | 71051/131931 [00:09<00:08, 7456.53it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  54%|█████▍    | 71803/131931 [00:09<00:08, 7193.28it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  55%|█████▍    | 72528/131931 [00:09<00:08, 7160.76it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  56%|█████▌    | 73248/131931 [00:09<00:08, 7090.92it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  56%|█████▌    | 74130/131931 [00:09<00:07, 7589.02it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  57%|█████▋    | 74893/131931 [00:09<00:07, 7456.72it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  57%|█████▋    | 75642/131931 [00:09<00:07, 7407.73it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  58%|█████▊    | 76663/131931 [00:09<00:06, 8224.39it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  59%|█████▉    | 77689/131931 [00:09<00:06, 8817.91it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  60%|█████▉    | 78575/131931 [00:10<00:06, 8536.68it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  60%|██████    | 79433/131931 [00:10<00:06, 7951.72it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  61%|██████    | 80299/131931 [00:10<00:06, 8148.26it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  62%|██████▏   | 81339/131931 [00:10<00:05, 8788.24it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  62%|██████▏   | 82228/131931 [00:10<00:05, 8322.41it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  63%|██████▎   | 83129/131931 [00:10<00:05, 8513.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  64%|██████▎   | 83990/131931 [00:10<00:05, 8083.95it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  64%|██████▍   | 84808/131931 [00:10<00:05, 7913.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  65%|██████▍   | 85606/131931 [00:10<00:05, 7807.65it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  65%|██████▌   | 86391/131931 [00:11<00:05, 7672.06it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  66%|██████▌   | 87161/131931 [00:11<00:05, 7587.95it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  67%|██████▋   | 87922/131931 [00:11<00:05, 7406.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  67%|██████▋   | 88664/131931 [00:11<00:05, 7334.64it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  68%|██████▊   | 89399/131931 [00:11<00:05, 7253.89it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  68%|██████▊   | 90125/131931 [00:11<00:05, 7244.08it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  69%|██████▉   | 90923/131931 [00:11<00:05, 7456.74it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  69%|██████▉   | 91677/131931 [00:11<00:05, 7479.33it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  70%|███████   | 92426/131931 [00:11<00:05, 7107.24it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  71%|███████   | 93170/131931 [00:11<00:05, 7201.84it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  71%|███████▏  | 94016/131931 [00:12<00:05, 7565.75it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  72%|███████▏  | 94777/131931 [00:12<00:04, 7491.65it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  72%|███████▏  | 95614/131931 [00:12<00:04, 7741.31it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  73%|███████▎  | 96492/131931 [00:12<00:04, 8045.18it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  74%|███████▎  | 97299/131931 [00:12<00:04, 8013.11it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  74%|███████▍  | 98102/131931 [00:12<00:04, 7343.02it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  75%|███████▍  | 98848/131931 [00:12<00:04, 7147.42it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  75%|███████▌  | 99571/131931 [00:12<00:04, 6944.10it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  76%|███████▌  | 100272/131931 [00:12<00:05, 6273.77it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  76%|███████▋  | 100913/131931 [00:13<00:05, 6125.99it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  77%|███████▋  | 101666/131931 [00:13<00:04, 6499.99it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  78%|███████▊  | 102428/131931 [00:13<00:04, 6807.65it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  78%|███████▊  | 103119/131931 [00:13<00:04, 6636.26it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  79%|███████▊  | 103855/131931 [00:13<00:04, 6838.62it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  79%|███████▉  | 104552/131931 [00:13<00:03, 6874.10it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  80%|███████▉  | 105244/131931 [00:13<00:04, 6448.90it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  80%|████████  | 105897/131931 [00:13<00:04, 6029.09it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  81%|████████  | 106510/131931 [00:13<00:04, 5585.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  81%|████████  | 107079/131931 [00:14<00:04, 5390.85it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  82%|████████▏ | 107749/131931 [00:14<00:04, 5738.25it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  82%|████████▏ | 108584/131931 [00:14<00:03, 6454.79it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  83%|████████▎ | 109334/131931 [00:14<00:03, 6747.99it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  83%|████████▎ | 110075/131931 [00:14<00:03, 6936.81it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  84%|████████▍ | 110873/131931 [00:14<00:02, 7237.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  85%|████████▍ | 111813/131931 [00:14<00:02, 7870.19it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  85%|████████▌ | 112694/131931 [00:14<00:02, 8145.11it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  86%|████████▌ | 113636/131931 [00:14<00:02, 8520.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  87%|████████▋ | 114607/131931 [00:15<00:01, 8872.47it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  88%|████████▊ | 115600/131931 [00:15<00:01, 9182.84it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  88%|████████▊ | 116564/131931 [00:15<00:01, 9315.59it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  89%|████████▉ | 117518/131931 [00:15<00:01, 9378.53it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  90%|████████▉ | 118479/131931 [00:15<00:01, 9446.93it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  91%|█████████ | 119425/131931 [00:15<00:01, 9190.77it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  91%|█████████ | 120347/131931 [00:15<00:01, 8777.23it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  92%|█████████▏| 121230/131931 [00:15<00:01, 8533.72it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  93%|█████████▎| 122088/131931 [00:15<00:01, 8390.60it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  93%|█████████▎| 122930/131931 [00:15<00:01, 8107.33it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  94%|█████████▍| 123744/131931 [00:16<00:01, 7879.93it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  95%|█████████▍| 124704/131931 [00:16<00:00, 8363.18it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  95%|█████████▌| 125546/131931 [00:16<00:00, 8141.66it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  96%|█████████▌| 126364/131931 [00:16<00:00, 7147.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  97%|█████████▋| 127315/131931 [00:16<00:00, 7767.95it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  97%|█████████▋| 128416/131931 [00:16<00:00, 8652.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  98%|█████████▊| 129581/131931 [00:16<00:00, 9488.88it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE:  99%|█████████▉| 130907/131931 [00:16<00:00, 10564.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction angles per UE: 100%|██████████| 131931/131931 [00:16<00:00, 7795.51it/s] "
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   0%|          | 0/131931 [00:00<?, ?it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   1%|          | 799/131931 [00:00<00:16, 7979.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   1%|          | 1608/131931 [00:00<00:16, 8036.79it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   2%|▏         | 2412/131931 [00:00<00:16, 7954.79it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   2%|▏         | 3208/131931 [00:00<00:17, 7395.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   3%|▎         | 3953/131931 [00:00<00:18, 6954.48it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   4%|▎         | 4655/131931 [00:00<00:21, 6048.18it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   4%|▍         | 5279/131931 [00:00<00:23, 5428.52it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   4%|▍         | 5841/131931 [00:01<00:28, 4443.84it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   5%|▍         | 6319/131931 [00:01<00:29, 4212.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   5%|▌         | 6761/131931 [00:01<00:30, 4112.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   5%|▌         | 7185/131931 [00:01<00:31, 3948.15it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   6%|▌         | 7588/131931 [00:01<00:32, 3813.57it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   6%|▌         | 7979/131931 [00:01<00:32, 3836.79it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   6%|▋         | 8372/131931 [00:01<00:32, 3861.06it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   7%|▋         | 8761/131931 [00:01<00:32, 3756.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   7%|▋         | 9139/131931 [00:01<00:32, 3744.78it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   7%|▋         | 9515/131931 [00:02<00:33, 3669.03it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   7%|▋         | 9883/131931 [00:02<00:43, 2829.20it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   8%|▊         | 10195/131931 [00:02<00:46, 2619.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   8%|▊         | 10478/131931 [00:02<00:51, 2362.61it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   8%|▊         | 10731/131931 [00:02<00:55, 2176.77it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   8%|▊         | 11016/131931 [00:02<00:51, 2326.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   9%|▊         | 11412/131931 [00:02<00:44, 2727.28it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   9%|▉         | 11774/131931 [00:02<00:40, 2958.70it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   9%|▉         | 12086/131931 [00:03<00:47, 2524.98it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:   9%|▉         | 12360/131931 [00:03<00:50, 2355.35it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  10%|▉         | 12730/131931 [00:03<00:44, 2680.24it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  10%|▉         | 13107/131931 [00:03<00:40, 2960.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  10%|█         | 13421/131931 [00:03<00:43, 2746.33it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  10%|█         | 13710/131931 [00:03<00:48, 2420.95it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  11%|█         | 13968/131931 [00:03<00:48, 2447.26it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  11%|█         | 14346/131931 [00:03<00:42, 2788.44it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  11%|█         | 14724/131931 [00:04<00:38, 3053.48it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  11%|█▏        | 15042/131931 [00:04<00:46, 2500.34it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  12%|█▏        | 15317/131931 [00:04<00:49, 2358.56it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  12%|█▏        | 15570/131931 [00:04<00:53, 2164.39it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  12%|█▏        | 15800/131931 [00:04<00:56, 2071.54it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  12%|█▏        | 16133/131931 [00:04<00:48, 2374.98it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  13%|█▎        | 16524/131931 [00:04<00:41, 2769.69it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  13%|█▎        | 16817/131931 [00:05<00:48, 2396.12it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  13%|█▎        | 17076/131931 [00:05<00:52, 2192.28it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  13%|█▎        | 17352/131931 [00:05<00:49, 2327.48it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  13%|█▎        | 17756/131931 [00:05<00:41, 2763.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  14%|█▎        | 18050/131931 [00:05<00:45, 2493.48it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  14%|█▍        | 18316/131931 [00:05<00:48, 2324.69it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  14%|█▍        | 18673/131931 [00:05<00:43, 2632.96it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  14%|█▍        | 19107/131931 [00:05<00:36, 3080.24it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  15%|█▍        | 19432/131931 [00:06<00:42, 2628.45it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  15%|█▍        | 19736/131931 [00:06<00:41, 2728.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  15%|█▌        | 20159/131931 [00:06<00:35, 3119.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  16%|█▌        | 20716/131931 [00:06<00:29, 3782.14it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  16%|█▌        | 21167/131931 [00:06<00:27, 3984.06it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  16%|█▋        | 21608/131931 [00:06<00:26, 4105.15it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  17%|█▋        | 22087/131931 [00:06<00:25, 4303.12it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  17%|█▋        | 22526/131931 [00:06<00:31, 3451.76it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  17%|█▋        | 22904/131931 [00:06<00:35, 3035.35it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  18%|█▊        | 23247/131931 [00:07<00:34, 3124.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  18%|█▊        | 23796/131931 [00:07<00:29, 3716.93it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  18%|█▊        | 24196/131931 [00:07<00:31, 3401.23it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  19%|█▉        | 24768/131931 [00:07<00:26, 3984.99it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  19%|█▉        | 25331/131931 [00:07<00:24, 4420.27it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  20%|█▉        | 25912/131931 [00:07<00:22, 4798.38it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  20%|██        | 26545/131931 [00:07<00:20, 5228.76it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  21%|██        | 27141/131931 [00:07<00:19, 5436.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  21%|██        | 27776/131931 [00:07<00:18, 5700.93it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  22%|██▏       | 28378/131931 [00:08<00:17, 5792.44it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  22%|██▏       | 28965/131931 [00:08<00:19, 5276.89it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  22%|██▏       | 29569/131931 [00:08<00:18, 5485.15it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  23%|██▎       | 30129/131931 [00:08<00:19, 5262.52it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  23%|██▎       | 30680/131931 [00:08<00:18, 5329.85it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  24%|██▎       | 31269/131931 [00:08<00:18, 5485.39it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  24%|██▍       | 31920/131931 [00:08<00:17, 5780.51it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  25%|██▍       | 32551/131931 [00:08<00:16, 5926.26it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  25%|██▌       | 33250/131931 [00:08<00:15, 6236.51it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  26%|██▌       | 33881/131931 [00:08<00:15, 6257.72it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  26%|██▌       | 34594/131931 [00:09<00:14, 6510.50it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  27%|██▋       | 35247/131931 [00:09<00:18, 5110.27it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  27%|██▋       | 35806/131931 [00:09<00:23, 4172.38it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  28%|██▊       | 36493/131931 [00:09<00:20, 4770.70it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  28%|██▊       | 37032/131931 [00:09<00:21, 4492.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  28%|██▊       | 37525/131931 [00:09<00:22, 4275.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  29%|██▉       | 37983/131931 [00:09<00:23, 3955.20it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  29%|██▉       | 38509/131931 [00:10<00:21, 4261.99it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  30%|██▉       | 39237/131931 [00:10<00:18, 5026.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  30%|███       | 39770/131931 [00:10<00:21, 4306.56it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  30%|███       | 40237/131931 [00:10<00:23, 3913.40it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  31%|███       | 40697/131931 [00:10<00:22, 4071.23it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  31%|███▏      | 41368/131931 [00:10<00:19, 4735.17it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  32%|███▏      | 41872/131931 [00:10<00:24, 3603.99it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  32%|███▏      | 42291/131931 [00:11<00:27, 3208.57it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  32%|███▏      | 42657/131931 [00:11<00:29, 3013.36it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  33%|███▎      | 42989/131931 [00:11<00:29, 3019.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  33%|███▎      | 43441/131931 [00:11<00:26, 3366.77it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  33%|███▎      | 43881/131931 [00:11<00:24, 3624.19it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  34%|███▎      | 44266/131931 [00:11<00:27, 3200.70it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  34%|███▍      | 44609/131931 [00:11<00:30, 2892.45it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  34%|███▍      | 44917/131931 [00:12<00:33, 2605.51it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  34%|███▍      | 45193/131931 [00:12<00:36, 2385.03it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  35%|███▍      | 45563/131931 [00:12<00:32, 2687.45it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  35%|███▍      | 46050/131931 [00:12<00:26, 3226.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  35%|███▌      | 46396/131931 [00:12<00:28, 2951.17it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  35%|███▌      | 46711/131931 [00:12<00:29, 2908.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  36%|███▌      | 47165/131931 [00:12<00:25, 3326.62it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  36%|███▌      | 47659/131931 [00:12<00:22, 3758.92it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  37%|███▋      | 48279/131931 [00:12<00:18, 4431.42it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  37%|███▋      | 48739/131931 [00:13<00:19, 4165.68it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  37%|███▋      | 49348/131931 [00:13<00:17, 4686.61it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  38%|███▊      | 49832/131931 [00:13<00:18, 4478.87it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  38%|███▊      | 50502/131931 [00:13<00:16, 5084.69it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  39%|███▉      | 51295/131931 [00:13<00:13, 5887.15it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  39%|███▉      | 51899/131931 [00:13<00:15, 5049.21it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  40%|███▉      | 52622/131931 [00:13<00:14, 5613.23it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  40%|████      | 53410/131931 [00:13<00:12, 6220.44it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  41%|████      | 54201/131931 [00:13<00:11, 6690.33it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  42%|████▏     | 54894/131931 [00:14<00:15, 4980.10it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  42%|████▏     | 55471/131931 [00:14<00:17, 4393.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  42%|████▏     | 55974/131931 [00:14<00:18, 4003.47it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  43%|████▎     | 56420/131931 [00:14<00:20, 3738.20it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  43%|████▎     | 56873/131931 [00:14<00:19, 3908.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  44%|████▎     | 57512/131931 [00:14<00:16, 4500.61it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  44%|████▍     | 57997/131931 [00:15<00:19, 3789.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  44%|████▍     | 58416/131931 [00:15<00:21, 3479.88it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  45%|████▍     | 58793/131931 [00:15<00:22, 3237.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  45%|████▍     | 59298/131931 [00:15<00:19, 3647.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  45%|████▌     | 59834/131931 [00:15<00:17, 4062.08it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  46%|████▌     | 60419/131931 [00:15<00:15, 4524.89it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  46%|████▌     | 60898/131931 [00:15<00:19, 3708.18it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  46%|████▋     | 61310/131931 [00:15<00:21, 3327.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  47%|████▋     | 61675/131931 [00:16<00:23, 2952.55it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  47%|████▋     | 61997/131931 [00:16<00:26, 2681.47it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  47%|████▋     | 62284/131931 [00:16<00:28, 2427.93it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  47%|████▋     | 62554/131931 [00:16<00:27, 2482.26it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  48%|████▊     | 62947/131931 [00:16<00:24, 2822.21it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  48%|████▊     | 63340/131931 [00:16<00:22, 3101.14it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  48%|████▊     | 63667/131931 [00:16<00:25, 2637.86it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  48%|████▊     | 63953/131931 [00:17<00:27, 2502.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  49%|████▊     | 64219/131931 [00:17<00:28, 2363.90it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  49%|████▉     | 64595/131931 [00:17<00:24, 2702.93it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  49%|████▉     | 64971/131931 [00:17<00:22, 2974.70it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  49%|████▉     | 65298/131931 [00:17<00:21, 3053.73it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  50%|████▉     | 65615/131931 [00:17<00:23, 2829.97it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  50%|████▉     | 65909/131931 [00:17<00:25, 2625.40it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  50%|█████     | 66181/131931 [00:17<00:27, 2432.48it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  50%|█████     | 66432/131931 [00:18<00:29, 2206.71it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  51%|█████     | 66715/131931 [00:18<00:27, 2359.57it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  51%|█████     | 67080/131931 [00:18<00:24, 2693.86it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  51%|█████     | 67385/131931 [00:18<00:23, 2790.06it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  51%|█████▏    | 67673/131931 [00:18<00:24, 2672.83it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  52%|█████▏    | 68037/131931 [00:18<00:21, 2935.50it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  52%|█████▏    | 68397/131931 [00:18<00:20, 3121.55it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  52%|█████▏    | 68731/131931 [00:18<00:19, 3183.08it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  52%|█████▏    | 69160/131931 [00:18<00:17, 3503.42it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  53%|█████▎    | 69582/131931 [00:18<00:16, 3709.44it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  53%|█████▎    | 70004/131931 [00:19<00:16, 3857.26it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  53%|█████▎    | 70416/131931 [00:19<00:15, 3933.13it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  54%|█████▎    | 70812/131931 [00:19<00:15, 3885.68it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  54%|█████▍    | 71203/131931 [00:19<00:15, 3840.69it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  54%|█████▍    | 71589/131931 [00:19<00:16, 3733.50it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  55%|█████▍    | 71964/131931 [00:19<00:16, 3651.74it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  55%|█████▍    | 72331/131931 [00:19<00:16, 3627.11it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  55%|█████▌    | 72700/131931 [00:19<00:16, 3645.02it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  55%|█████▌    | 73073/131931 [00:19<00:16, 3668.12it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  56%|█████▌    | 73493/131931 [00:19<00:15, 3821.47it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  56%|█████▌    | 73895/131931 [00:20<00:14, 3876.91it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  56%|█████▋    | 74302/131931 [00:20<00:14, 3932.86it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  57%|█████▋    | 74716/131931 [00:20<00:14, 3990.20it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  57%|█████▋    | 75130/131931 [00:20<00:14, 4033.36it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  57%|█████▋    | 75751/131931 [00:20<00:12, 4679.00it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  58%|█████▊    | 76383/131931 [00:20<00:10, 5169.00it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  58%|█████▊    | 76999/131931 [00:20<00:10, 5462.74it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  59%|█████▉    | 77647/131931 [00:20<00:09, 5763.45it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  59%|█████▉    | 78224/131931 [00:20<00:11, 4871.33it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  60%|█████▉    | 78735/131931 [00:21<00:11, 4627.02it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  60%|██████    | 79216/131931 [00:21<00:11, 4548.12it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  60%|██████    | 79683/131931 [00:21<00:11, 4563.41it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  61%|██████    | 80175/131931 [00:21<00:11, 4658.40it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  61%|██████    | 80648/131931 [00:21<00:11, 4491.68it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  61%|██████▏   | 81103/131931 [00:21<00:11, 4507.00it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  62%|██████▏   | 81558/131931 [00:21<00:11, 4341.77it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  62%|██████▏   | 81996/131931 [00:21<00:11, 4336.75it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  62%|██████▏   | 82456/131931 [00:21<00:11, 4407.31it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  63%|██████▎   | 82965/131931 [00:22<00:10, 4604.66it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  63%|██████▎   | 83428/131931 [00:22<00:10, 4518.93it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  64%|██████▎   | 83882/131931 [00:22<00:12, 3952.61it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  64%|██████▍   | 84335/131931 [00:22<00:11, 4105.70it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  64%|██████▍   | 84804/131931 [00:22<00:11, 4265.90it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  65%|██████▍   | 85243/131931 [00:22<00:10, 4295.08it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  65%|██████▌   | 85845/131931 [00:22<00:09, 4789.94it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  65%|██████▌   | 86331/131931 [00:22<00:09, 4684.77it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  66%|██████▌   | 86805/131931 [00:22<00:10, 4508.47it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  66%|██████▌   | 87261/131931 [00:23<00:09, 4480.48it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  66%|██████▋   | 87713/131931 [00:23<00:09, 4474.53it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  67%|██████▋   | 88313/131931 [00:23<00:08, 4913.53it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  67%|██████▋   | 88808/131931 [00:23<00:08, 4837.17it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  68%|██████▊   | 89294/131931 [00:23<00:08, 4757.03it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  68%|██████▊   | 89772/131931 [00:23<00:09, 4670.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  68%|██████▊   | 90372/131931 [00:23<00:08, 5050.23it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  69%|██████▉   | 90880/131931 [00:23<00:08, 4971.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  69%|██████▉   | 91379/131931 [00:23<00:08, 4753.54it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  70%|██████▉   | 91858/131931 [00:23<00:09, 4370.31it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  70%|██████▉   | 92302/131931 [00:24<00:09, 4265.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  70%|███████   | 92770/131931 [00:24<00:08, 4376.00it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  71%|███████   | 93272/131931 [00:24<00:08, 4555.11it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  71%|███████   | 93732/131931 [00:24<00:09, 4105.43it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  71%|███████▏  | 94181/131931 [00:24<00:08, 4206.92it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  72%|███████▏  | 94627/131931 [00:24<00:08, 4275.28it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  72%|███████▏  | 95069/131931 [00:24<00:08, 4314.19it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  72%|███████▏  | 95606/131931 [00:24<00:07, 4615.61it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  73%|███████▎  | 96081/131931 [00:24<00:07, 4652.57it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  73%|███████▎  | 96550/131931 [00:25<00:07, 4605.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  74%|███████▎  | 97050/131931 [00:25<00:07, 4721.01it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  74%|███████▍  | 97524/131931 [00:25<00:07, 4721.99it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  74%|███████▍  | 97998/131931 [00:25<00:07, 4538.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  75%|███████▍  | 98455/131931 [00:25<00:07, 4478.95it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  75%|███████▍  | 98905/131931 [00:25<00:07, 4409.63it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  75%|███████▌  | 99348/131931 [00:25<00:07, 4331.26it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  76%|███████▌  | 99815/131931 [00:25<00:07, 4428.14it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  76%|███████▌  | 100259/131931 [00:25<00:07, 4386.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  76%|███████▋  | 100740/131931 [00:25<00:06, 4508.55it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  77%|███████▋  | 101192/131931 [00:26<00:06, 4474.01it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  77%|███████▋  | 101665/131931 [00:26<00:06, 4546.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  77%|███████▋  | 102140/131931 [00:26<00:06, 4605.57it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  78%|███████▊  | 102602/131931 [00:26<00:06, 4567.57it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  78%|███████▊  | 103060/131931 [00:26<00:06, 4464.25it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  78%|███████▊  | 103518/131931 [00:26<00:06, 4496.42it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  79%|███████▉  | 103982/131931 [00:26<00:06, 4535.36it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  79%|███████▉  | 104436/131931 [00:26<00:06, 4441.01it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  79%|███████▉  | 104881/131931 [00:26<00:06, 4338.42it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  80%|███████▉  | 105316/131931 [00:27<00:06, 4197.78it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  80%|████████  | 105737/131931 [00:27<00:06, 4098.05it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  80%|████████  | 106148/131931 [00:27<00:06, 4049.80it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  81%|████████  | 106554/131931 [00:27<00:06, 3975.13it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  81%|████████  | 106952/131931 [00:27<00:06, 3891.36it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  81%|████████▏ | 107342/131931 [00:27<00:06, 3859.00it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  82%|████████▏ | 107818/131931 [00:27<00:05, 4117.98it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  82%|████████▏ | 108369/131931 [00:27<00:05, 4523.71it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  83%|████████▎ | 108887/131931 [00:27<00:04, 4714.14it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  83%|████████▎ | 109417/131931 [00:27<00:04, 4882.75it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  83%|████████▎ | 109983/131931 [00:28<00:04, 5111.77it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  84%|████████▍ | 110496/131931 [00:28<00:04, 5095.76it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  84%|████████▍ | 111007/131931 [00:28<00:04, 4914.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  85%|████████▍ | 111580/131931 [00:28<00:03, 5143.86it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  85%|████████▌ | 112161/131931 [00:28<00:03, 5337.82it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  85%|████████▌ | 112755/131931 [00:28<00:03, 5510.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  86%|████████▌ | 113390/131931 [00:28<00:03, 5756.27it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  86%|████████▋ | 113992/131931 [00:28<00:03, 5829.79it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  87%|████████▋ | 114688/131931 [00:28<00:02, 6160.30it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  87%|████████▋ | 115322/131931 [00:28<00:02, 6213.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  88%|████████▊ | 115944/131931 [00:29<00:02, 6022.25it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  88%|████████▊ | 116585/131931 [00:29<00:02, 6127.27it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  89%|████████▉ | 117260/131931 [00:29<00:02, 6305.70it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  89%|████████▉ | 117892/131931 [00:29<00:02, 6128.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  90%|████████▉ | 118507/131931 [00:29<00:02, 5913.59it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  90%|█████████ | 119101/131931 [00:29<00:02, 5715.18it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  91%|█████████ | 119675/131931 [00:29<00:02, 5358.88it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  91%|█████████ | 120216/131931 [00:29<00:02, 5241.72it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  92%|█████████▏| 120744/131931 [00:29<00:02, 5121.04it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  92%|█████████▏| 121259/131931 [00:30<00:02, 5048.66it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  92%|█████████▏| 121765/131931 [00:30<00:02, 4931.40it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  93%|█████████▎| 122259/131931 [00:30<00:01, 4901.74it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  93%|█████████▎| 122750/131931 [00:30<00:01, 4736.65it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  93%|█████████▎| 123255/131931 [00:30<00:01, 4824.98it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  94%|█████████▍| 123739/131931 [00:30<00:01, 4797.18it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  94%|█████████▍| 124295/131931 [00:30<00:01, 5018.25it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  95%|█████████▍| 124806/131931 [00:30<00:01, 5041.48it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  95%|█████████▍| 125312/131931 [00:30<00:01, 4730.03it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  95%|█████████▌| 125790/131931 [00:31<00:01, 4719.54it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  96%|█████████▌| 126265/131931 [00:31<00:01, 4613.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  96%|█████████▌| 126729/131931 [00:31<00:01, 3835.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  96%|█████████▋| 127135/131931 [00:31<00:01, 3362.42it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  97%|█████████▋| 127494/131931 [00:31<00:01, 3052.27it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  97%|█████████▋| 127817/131931 [00:31<00:01, 2895.19it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  97%|█████████▋| 128118/131931 [00:31<00:01, 2906.00it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  98%|█████████▊| 128644/131931 [00:31<00:00, 3499.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  98%|█████████▊| 129581/131931 [00:32<00:00, 5053.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  99%|█████████▊| 130119/131931 [00:32<00:00, 4559.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  99%|█████████▉| 130606/131931 [00:32<00:00, 4304.28it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE:  99%|█████████▉| 131059/131931 [00:32<00:00, 3909.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE: 100%|█████████▉| 131470/131931 [00:32<00:00, 3594.63it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE: 100%|█████████▉| 131845/131931 [00:32<00:00, 3342.14it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing interaction objects per UE: 100%|██████████| 131931/131931 [00:32<00:00, 4028.23it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   0%|          | 0/131931 [00:00<?, ?it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   1%|          | 1129/131931 [00:00<00:11, 11289.61it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   2%|▏         | 2511/131931 [00:00<00:10, 12772.63it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   3%|▎         | 3789/131931 [00:00<00:10, 11920.11it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   4%|▍         | 4988/131931 [00:00<00:12, 10326.86it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   5%|▍         | 6048/131931 [00:00<00:13, 9197.68it/s] "
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   5%|▌         | 6996/131931 [00:00<00:15, 8313.86it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   6%|▌         | 7851/131931 [00:00<00:16, 7549.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   7%|▋         | 8625/131931 [00:01<00:17, 7136.53it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   7%|▋         | 9350/131931 [00:01<00:17, 6873.23it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   8%|▊         | 10043/131931 [00:01<00:18, 6691.54it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   8%|▊         | 10714/131931 [00:01<00:18, 6508.34it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   9%|▊         | 11365/131931 [00:01<00:18, 6415.91it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:   9%|▉         | 12006/131931 [00:01<00:19, 6234.77it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  10%|▉         | 12629/131931 [00:01<00:19, 6136.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  10%|█         | 13242/131931 [00:01<00:20, 5915.23it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  10%|█         | 13833/131931 [00:01<00:20, 5829.00it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  11%|█         | 14417/131931 [00:01<00:20, 5830.95it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  11%|█▏        | 15006/131931 [00:02<00:20, 5844.81it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  12%|█▏        | 15599/131931 [00:02<00:19, 5869.13it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  12%|█▏        | 16186/131931 [00:02<00:19, 5857.84it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  13%|█▎        | 16772/131931 [00:02<00:19, 5849.57it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  13%|█▎        | 17379/131931 [00:02<00:19, 5914.23it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  14%|█▎        | 18008/131931 [00:02<00:18, 6024.84it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  14%|█▍        | 18666/131931 [00:02<00:18, 6188.74it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  15%|█▍        | 19306/131931 [00:02<00:18, 6249.38it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  15%|█▌        | 20033/131931 [00:02<00:17, 6551.94it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  16%|█▌        | 20810/131931 [00:02<00:16, 6913.92it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  16%|█▋        | 21596/131931 [00:03<00:15, 7193.40it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  17%|█▋        | 22316/131931 [00:03<00:16, 6760.63it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  18%|█▊        | 23210/131931 [00:03<00:14, 7384.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  18%|█▊        | 24124/131931 [00:03<00:13, 7893.63it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  19%|█▉        | 25326/131931 [00:03<00:11, 9102.63it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  20%|██        | 26552/131931 [00:03<00:10, 10031.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  21%|██        | 27801/131931 [00:03<00:09, 10760.38it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  22%|██▏       | 28919/131931 [00:03<00:09, 10882.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  23%|██▎       | 30017/131931 [00:03<00:09, 10908.61it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  24%|██▎       | 31246/131931 [00:04<00:08, 11318.76it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  25%|██▍       | 32653/131931 [00:04<00:08, 12136.81it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  26%|██▌       | 34130/131931 [00:04<00:07, 12922.33it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  27%|██▋       | 35603/131931 [00:04<00:07, 13460.81it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  28%|██▊       | 36951/131931 [00:04<00:07, 13151.47it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  29%|██▉       | 38336/131931 [00:04<00:07, 13355.87it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  30%|███       | 39674/131931 [00:04<00:06, 13344.39it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  31%|███       | 41010/131931 [00:04<00:06, 13327.84it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  32%|███▏      | 42344/131931 [00:04<00:07, 12534.63it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  33%|███▎      | 43608/131931 [00:04<00:07, 11870.64it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  34%|███▍      | 44808/131931 [00:05<00:07, 11385.45it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  35%|███▍      | 45957/131931 [00:05<00:07, 11121.14it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  36%|███▌      | 47076/131931 [00:05<00:07, 11057.01it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  37%|███▋      | 48251/131931 [00:05<00:07, 11249.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  38%|███▊      | 49758/131931 [00:05<00:06, 12344.51it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  39%|███▉      | 51546/131931 [00:05<00:05, 13952.76it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  40%|████      | 53385/131931 [00:05<00:05, 15250.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  42%|████▏     | 54921/131931 [00:05<00:05, 15268.31it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  43%|████▎     | 56455/131931 [00:05<00:05, 14917.04it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  44%|████▍     | 57954/131931 [00:06<00:05, 13633.14it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  45%|████▍     | 59342/131931 [00:06<00:05, 13156.80it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  46%|████▌     | 60676/131931 [00:06<00:05, 12649.39it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  47%|████▋     | 61955/131931 [00:06<00:05, 11964.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  48%|████▊     | 63164/131931 [00:06<00:06, 10715.24it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  49%|████▊     | 64262/131931 [00:06<00:06, 10093.70it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  49%|████▉     | 65290/131931 [00:06<00:06, 9839.59it/s] "
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  50%|█████     | 66285/131931 [00:06<00:07, 9073.40it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  51%|█████     | 67205/131931 [00:07<00:07, 8661.58it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  52%|█████▏    | 68079/131931 [00:07<00:07, 8439.78it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  52%|█████▏    | 68927/131931 [00:07<00:07, 8303.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  53%|█████▎    | 70032/131931 [00:07<00:06, 9043.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  54%|█████▍    | 70946/131931 [00:07<00:06, 8927.02it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  54%|█████▍    | 71845/131931 [00:07<00:06, 8915.09it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  55%|█████▌    | 72741/131931 [00:07<00:06, 8895.91it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  56%|█████▌    | 73700/131931 [00:07<00:06, 9093.09it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  57%|█████▋    | 74612/131931 [00:07<00:06, 9007.52it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  57%|█████▋    | 75605/131931 [00:07<00:06, 9275.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  58%|█████▊    | 76998/131931 [00:08<00:05, 10646.36it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  59%|█████▉    | 78125/131931 [00:08<00:04, 10826.73it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  60%|██████    | 79211/131931 [00:08<00:05, 10102.33it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  61%|██████    | 80233/131931 [00:08<00:05, 9926.10it/s] "
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  62%|██████▏   | 81234/131931 [00:08<00:05, 9887.52it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  62%|██████▏   | 82252/131931 [00:08<00:04, 9968.21it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  63%|██████▎   | 83253/131931 [00:08<00:04, 9877.84it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  64%|██████▍   | 84321/131931 [00:08<00:04, 10107.31it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  65%|██████▍   | 85335/131931 [00:08<00:04, 10095.19it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  65%|██████▌   | 86347/131931 [00:08<00:04, 9954.37it/s] "
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  66%|██████▌   | 87344/131931 [00:09<00:04, 9605.59it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  67%|██████▋   | 88332/131931 [00:09<00:04, 9680.43it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  68%|██████▊   | 89303/131931 [00:09<00:04, 9585.31it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  68%|██████▊   | 90264/131931 [00:09<00:04, 9537.21it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  69%|██████▉   | 91219/131931 [00:09<00:04, 9418.66it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  70%|██████▉   | 92162/131931 [00:09<00:04, 8892.84it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  71%|███████   | 93057/131931 [00:09<00:04, 8758.27it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  71%|███████   | 93956/131931 [00:09<00:04, 8822.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  72%|███████▏  | 94842/131931 [00:09<00:04, 8621.41it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  73%|███████▎  | 95707/131931 [00:10<00:04, 8202.82it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  73%|███████▎  | 96532/131931 [00:10<00:04, 7984.42it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  74%|███████▍  | 97334/131931 [00:10<00:04, 7589.80it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  74%|███████▍  | 98098/131931 [00:10<00:04, 7245.99it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  75%|███████▍  | 98827/131931 [00:10<00:04, 7076.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  75%|███████▌  | 99538/131931 [00:10<00:04, 6951.77it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  76%|███████▌  | 100235/131931 [00:10<00:04, 6879.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  76%|███████▋  | 100924/131931 [00:10<00:04, 6767.09it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  77%|███████▋  | 101601/131931 [00:10<00:04, 6752.35it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  78%|███████▊  | 102277/131931 [00:11<00:04, 6746.11it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  78%|███████▊  | 102952/131931 [00:11<00:04, 6735.60it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  79%|███████▊  | 103626/131931 [00:11<00:04, 6650.48it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  79%|███████▉  | 104293/131931 [00:11<00:04, 6655.27it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  80%|███████▉  | 104959/131931 [00:11<00:04, 6545.61it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  80%|████████  | 105614/131931 [00:11<00:04, 6438.74it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  81%|████████  | 106259/131931 [00:11<00:03, 6424.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  81%|████████  | 106929/131931 [00:11<00:03, 6503.39it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  82%|████████▏ | 107625/131931 [00:11<00:03, 6637.55it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  82%|████████▏ | 108461/131931 [00:11<00:03, 7146.73it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  83%|████████▎ | 109332/131931 [00:12<00:02, 7611.18it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  84%|████████▎ | 110358/131931 [00:12<00:02, 8399.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  84%|████████▍ | 111321/131931 [00:12<00:02, 8763.50it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  85%|████████▌ | 112459/131931 [00:12<00:02, 9545.43it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  86%|████████▋ | 113800/131931 [00:12<00:01, 10701.35it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  87%|████████▋ | 115214/131931 [00:12<00:01, 11728.16it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  88%|████████▊ | 116579/131931 [00:12<00:01, 12300.43it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  89%|████████▉ | 117910/131931 [00:12<00:01, 12598.40it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  90%|█████████ | 119191/131931 [00:12<00:01, 12654.84it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  91%|█████████▏| 120457/131931 [00:12<00:00, 12179.74it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  92%|█████████▏| 121679/131931 [00:13<00:00, 11879.71it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  93%|█████████▎| 122871/131931 [00:13<00:00, 11752.49it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  94%|█████████▍| 124049/131931 [00:13<00:00, 11564.52it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  95%|█████████▍| 125208/131931 [00:13<00:00, 11512.15it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  96%|█████████▌| 126361/131931 [00:13<00:00, 11459.71it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  97%|█████████▋| 127508/131931 [00:13<00:00, 11069.76it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  98%|█████████▊| 128649/131931 [00:13<00:00, 11164.25it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE:  99%|█████████▉| 130533/131931 [00:13<00:00, 13397.02it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Computing doppler per UE: 100%|██████████| 131931/131931 [00:13<00:00, 9490.43it/s] "
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:   0%|          | 0/131931 [00:00<?, ?it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:   2%|▏         | 2756/131931 [00:00<00:04, 27556.28it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:   4%|▍         | 5512/131931 [00:00<00:06, 20224.98it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:   6%|▌         | 7650/131931 [00:00<00:07, 16373.44it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:   7%|▋         | 9391/131931 [00:00<00:08, 14432.96it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:   8%|▊         | 10898/131931 [00:00<00:08, 13852.25it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:   9%|▉         | 12314/131931 [00:00<00:09, 13127.93it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  10%|█         | 13641/131931 [00:00<00:09, 12658.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  11%|█▏        | 14911/131931 [00:01<00:09, 12363.98it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  12%|█▏        | 16147/131931 [00:01<00:09, 12059.62it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  13%|█▎        | 17350/131931 [00:01<00:09, 11773.04it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  14%|█▍        | 18544/131931 [00:01<00:09, 11817.52it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  15%|█▍        | 19724/131931 [00:01<00:09, 11805.44it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  16%|█▌        | 21179/131931 [00:01<00:08, 12594.65it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  17%|█▋        | 22585/131931 [00:01<00:08, 13021.28it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  18%|█▊        | 24259/131931 [00:01<00:07, 14114.28it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  20%|█▉        | 26240/131931 [00:01<00:06, 15795.72it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  21%|██▏       | 28293/131931 [00:01<00:06, 17197.68it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  23%|██▎       | 30387/131931 [00:02<00:05, 18309.92it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  25%|██▍       | 32900/131931 [00:02<00:04, 20342.20it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  27%|██▋       | 35619/131931 [00:02<00:04, 22383.48it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  29%|██▉       | 37957/131931 [00:02<00:04, 22679.22it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  31%|███       | 40384/131931 [00:02<00:03, 23150.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  32%|███▏      | 42702/131931 [00:02<00:04, 21632.64it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  34%|███▍      | 44887/131931 [00:02<00:04, 21170.10it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  36%|███▌      | 47020/131931 [00:02<00:04, 20116.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  38%|███▊      | 49565/131931 [00:02<00:03, 21597.07it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  40%|███▉      | 52557/131931 [00:03<00:03, 23962.25it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  42%|████▏     | 55261/131931 [00:03<00:03, 24847.66it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  44%|████▍     | 57788/131931 [00:03<00:02, 24966.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  46%|████▌     | 60302/131931 [00:03<00:02, 24470.52it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  48%|████▊     | 62763/131931 [00:03<00:03, 22360.98it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  49%|████▉     | 65041/131931 [00:03<00:03, 20863.40it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  51%|█████     | 67169/131931 [00:03<00:03, 18972.42it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  52%|█████▏    | 69117/131931 [00:03<00:03, 17882.52it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  54%|█████▍    | 70942/131931 [00:03<00:03, 17719.88it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  55%|█████▌    | 72738/131931 [00:04<00:03, 16697.90it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  56%|█████▋    | 74502/131931 [00:04<00:03, 16941.41it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  58%|█████▊    | 76586/131931 [00:04<00:03, 17998.92it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  60%|█████▉    | 78619/131931 [00:04<00:02, 18651.17it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  61%|██████    | 80505/131931 [00:04<00:02, 18548.67it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  62%|██████▏   | 82374/131931 [00:04<00:02, 17499.12it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  64%|██████▍   | 84350/131931 [00:04<00:02, 18128.80it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  65%|██████▌   | 86343/131931 [00:04<00:02, 18641.01it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  67%|██████▋   | 88223/131931 [00:04<00:02, 18400.86it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  68%|██████▊   | 90074/131931 [00:05<00:02, 18082.54it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  70%|██████▉   | 91891/131931 [00:05<00:02, 17551.21it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  71%|███████   | 93654/131931 [00:05<00:02, 16252.32it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  72%|███████▏  | 95300/131931 [00:05<00:02, 15699.41it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  73%|███████▎  | 96885/131931 [00:05<00:02, 14960.45it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  75%|███████▍  | 98394/131931 [00:05<00:02, 13952.83it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  76%|███████▌  | 99805/131931 [00:05<00:02, 13331.04it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  77%|███████▋  | 101149/131931 [00:05<00:02, 12889.69it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  78%|███████▊  | 102445/131931 [00:05<00:02, 12570.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  79%|███████▊  | 103705/131931 [00:06<00:02, 12346.64it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  80%|███████▉  | 104941/131931 [00:06<00:02, 12197.44it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  80%|████████  | 106161/131931 [00:06<00:02, 12060.03it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  81%|████████▏ | 107368/131931 [00:06<00:02, 12061.11it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  83%|████████▎ | 108923/131931 [00:06<00:01, 13064.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  84%|████████▍ | 110673/131931 [00:06<00:01, 14356.94it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  85%|████████▌ | 112715/131931 [00:06<00:01, 16135.29it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  87%|████████▋ | 115200/131931 [00:06<00:00, 18710.46it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  89%|████████▉ | 117746/131931 [00:06<00:00, 20711.33it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  91%|█████████ | 120104/131931 [00:06<00:00, 21564.13it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  93%|█████████▎| 122267/131931 [00:07<00:00, 21266.50it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  94%|█████████▍| 124438/131931 [00:07<00:00, 21395.37it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  96%|█████████▌| 126582/131931 [00:07<00:00, 21364.09it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels:  98%|█████████▊| 128999/131931 [00:07<00:00, 22193.18it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\r",
      "Generating channels: 100%|██████████| 131931/131931 [00:07<00:00, 17629.59it/s]"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Computed Doppler shifts: [0. 0. 0. 0. 0.] Hz\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "\n"
     ]
    }
   ],
   "source": [
    "# Compute Doppler shifts based on velocities\n",
    "ch_params.doppler = True\n",
    "dataset.compute_channels(ch_params)\n",
    "channels_with_doppler = dataset.channel\n",
    "\n",
    "# Access computed Doppler shifts\n",
    "if hasattr(dataset, \"doppler\"):\n",
    "    print(f\"Computed Doppler shifts: {dataset.doppler[0, :5]} Hz\")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "cd39dd2e",
   "metadata": {},
   "source": [
    "## Understanding Dynamic Datasets\n",
    "\n",
    "**Dynamic scenarios** are series of ray-tracing snapshots where at least one element\"s\n",
    "properties change between scenes. A scenario is \"dynamic\" when at least one property of\n",
    "at least one element changes, requiring a new ray-tracing simulation.\n",
    "\n",
    "### What Can Change Between Scenes?\n",
    "\n",
    "Elements in the scene are either:\n",
    "- **Objects** (no antennas): Properties that affect ray-tracing are **position**,\n",
    "  **orientation**, and **material**\n",
    "- **Transmitters/Receivers**: Properties that affect ray-tracing are **position**,\n",
    "  **orientation**, and **antenna**\n",
    "\n",
    "In practice, **position changes are by far the most common**. Each scene is ray-traced\n",
    "independently after the property changes, capturing how propagation evolves as elements move.\n",
    "\n",
    "### Ray-Tracing and Time\n",
    "\n",
    "**Ray-tracing has no concept of time—only space.** Ray-tracing is fully deterministic,\n",
    "not stochastic. Dynamic scenarios simply provide consecutive snapshots of a changing scene.\n",
    "When elements move, they interact differently with propagation, and consecutive snapshots\n",
    "capture those changes for more realistic modeling.\n",
    "\n",
    "**Time is a construct you apply in your simulations.** In DeepMIMO, Doppler effects are\n",
    "added afterwards based on configured velocities, providing maximum flexibility without\n",
    "loss of generality.\n",
    "\n",
    "### When to Use Dynamic vs Static Scenarios\n",
    "\n",
    "Many studies accept using **static scenarios with user sampling along trajectories** as an\n",
    "approximation. For example, if you want to model a user moving between buildings without\n",
    "considering interaction with moving cars, a static scenario is sufficient. This provides\n",
    "a good trade-off between simulation complexity and realism.\n",
    "\n",
    "**Important:** Current dynamic dataset support for channel generation across scenes is\n",
    "limited. **We recommend using static datasets with mobility modeling** (as shown in this\n",
    "tutorial) for most applications including channel prediction, beam tracking, and channel aging.\n",
    "\n",
    "Below is a demonstration of loading a dynamic dataset to visualize position changes."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "dc06adae",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:56:31.823228Z",
     "iopub.status.busy": "2026-04-18T21:56:31.823055Z",
     "iopub.status.idle": "2026-04-18T21:56:31.826110Z",
     "shell.execute_reply": "2026-04-18T21:56:31.825669Z"
    }
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Loading dynamic scenario...\n"
     ]
    }
   ],
   "source": [
    "# Example: Load dynamic dataset (demonstration only)\n",
    "dyn_scen_name = \"asu_campus_3p5_dyn\"\n",
    "\n",
    "print(\"Loading dynamic scenario...\")\n",
    "\n",
    "# UNCOMMENT TO RUN. Currently commented to avoid 1.6 GB download during pytests.\n",
    "\n",
    "# Note: Load only one transmitter to avoid MacroDataset structure\n",
    "# which is not fully supported in dynamic scenarios yet\n",
    "\n",
    "# dataset_dyn = dm.load(dyn_scen_name, tx_sets={1: [0]})\n",
    "# print(f\"Number of scenes in dynamic dataset: {len(dataset_dyn)}\")\n",
    "\n",
    "dataset_dyn = None"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "91c1a2ae",
   "metadata": {},
   "source": [
    "### Visualize Position Changes Across Scenes\n",
    "\n",
    "Dynamic datasets contain multiple scenes. When timestamps are applied, the velocity\n",
    "between consecutive user positions across scenes will vary based on temporal spacing."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "id": "55e7cb23",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:56:31.828693Z",
     "iopub.status.busy": "2026-04-18T21:56:31.828565Z",
     "iopub.status.idle": "2026-04-18T21:56:31.831280Z",
     "shell.execute_reply": "2026-04-18T21:56:31.830956Z"
    }
   },
   "outputs": [],
   "source": [
    "# In this dynamic dataset, the property that changes across scenes is the position of one of the\n",
    "# transmitters.\n",
    "\n",
    "if dataset_dyn is not None:\n",
    "    # Visualize position evolution for a transmitter across scenes\n",
    "    tx1_pos = np.array(dataset_dyn.tx_pos)\n",
    "\n",
    "    plt.figure(figsize=(10, 6), tight_layout=True)\n",
    "    dataset_dyn[0].scene.plot(proj_3D=False)\n",
    "    plt.scatter(\n",
    "        tx1_pos[:, 0],\n",
    "        tx1_pos[:, 1],\n",
    "        c=\"blue\",\n",
    "        marker=\"o\",\n",
    "        s=50,\n",
    "        alpha=0.6,\n",
    "        label=\"Transmitter Trajectory\",\n",
    "    )\n",
    "    plt.legend()\n",
    "    plt.show()\n",
    "    print(f\"Transmitter moved across {len(tx1_pos)} scene snapshots\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "f8acd34d",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:56:31.832664Z",
     "iopub.status.busy": "2026-04-18T21:56:31.832538Z",
     "iopub.status.idle": "2026-04-18T21:56:31.835035Z",
     "shell.execute_reply": "2026-04-18T21:56:31.834734Z"
    }
   },
   "outputs": [],
   "source": [
    "\n",
    "# Apply timestamps to compute velocities between scenes\n",
    "if dataset_dyn is not None:\n",
    "    dataset_dyn.set_timestamps(1)  # 1 second between consecutive scenes\n",
    "    # If the position differences between scenes are constant, velocities will be constant too\n",
    "    # set_timestamps accepts a list of different time deltas between scenes as well.\n",
    "\n",
    "    # Timestamps are computed given a constant time delta of 1 second\n",
    "    print(f\"timestamps: {dataset_dyn.timestamps}\")\n",
    "    # Constant (zero) rx velocities because rx positions are constant\n",
    "    print(f\"rx_vel: {dataset_dyn.rx_vel}\")\n",
    "    # Constant (non-zero) tx velocities due to constant 5 meter position differences between scenes\n",
    "    print(f\"tx_vel: {dataset_dyn.tx_vel}\")\n",
    "    # Constant (zero) object velocities - object positions never change across scenes\n",
    "    print(f\"obj_vel: {[obj.vel for obj in dataset_dyn.scene.objects]}\")\n",
    "\n",
    "    # Note: The Dynamic dataset should not contain MacroDatasets, since tx-rx pair Datasets.\n",
    "    # A Dataset will contain a single tx-rx pair, when we pre-load it with tx_sets={1: [0]}.\n",
    "    print(f\"Transmitter velocity (m/s) in scene 1: {dataset_dyn[1].tx_vel}\")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "5ddc8f73",
   "metadata": {},
   "source": [
    "**Note:** While dynamic datasets show realistic element movements, for most applications\n",
    "(channel prediction, beam tracking, etc.), **static scenarios with user sampling along\n",
    "trajectories** provide sufficient realism with simpler implementation. See the\n",
    "[user sampling documentation](https://deepmimo.net/docs/manual_full.html#user-sampling)\n",
    "for trajectory-based mobility in static scenarios."
   ]
  },
  {
   "cell_type": "markdown",
   "id": "99300d72",
   "metadata": {},
   "source": [
    "## Doppler Spectrum"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "0e198976",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:56:31.836476Z",
     "iopub.status.busy": "2026-04-18T21:56:31.836333Z",
     "iopub.status.idle": "2026-04-18T21:56:31.979266Z",
     "shell.execute_reply": "2026-04-18T21:56:31.978838Z"
    }
   },
   "outputs": [
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1000x500 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Analyze Doppler spectrum\n",
    "if hasattr(dataset, \"doppler\") and dataset.doppler is not None:\n",
    "    doppler_values = dataset.doppler[dataset.doppler != 0]\n",
    "\n",
    "    plt.figure(figsize=(10, 5))\n",
    "    plt.hist(doppler_values, bins=50, edgecolor=\"black\")\n",
    "    plt.xlabel(\"Doppler Shift (Hz)\")\n",
    "    plt.ylabel(\"Count\")\n",
    "    plt.title(\"Doppler Spectrum Distribution\")\n",
    "    plt.grid(visible=True)\n",
    "    plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "5c2e01fa",
   "metadata": {},
   "source": [
    "## Mobility Patterns"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "1e8ad0fd",
   "metadata": {},
   "source": [
    "### Linear Motion"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "id": "2242561a",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:56:31.981459Z",
     "iopub.status.busy": "2026-04-18T21:56:31.981307Z",
     "iopub.status.idle": "2026-04-18T21:56:32.071370Z",
     "shell.execute_reply": "2026-04-18T21:56:32.070771Z"
    }
   },
   "outputs": [
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 1000x600 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Define linear motion pattern\n",
    "start_pos = dataset.rx_pos[0]\n",
    "velocity = np.array([10.0, 5.0, 0.0])  # m/s\n",
    "time_steps = np.linspace(0, 1.0, 10)  # 0 to 1 second, 10 steps\n",
    "\n",
    "# Calculate positions over time\n",
    "positions_over_time = np.array([start_pos + velocity * t for t in time_steps])\n",
    "\n",
    "plt.figure(figsize=(10, 6))\n",
    "plt.plot(positions_over_time[:, 0], positions_over_time[:, 1], \"o-\")\n",
    "plt.xlabel(\"X (m)\")\n",
    "plt.ylabel(\"Y (m)\")\n",
    "plt.title(\"Linear Motion Trajectory\")\n",
    "plt.grid(visible=True)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "70889299",
   "metadata": {},
   "source": [
    "### Circular Motion"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "id": "aaa45be2",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:56:32.074041Z",
     "iopub.status.busy": "2026-04-18T21:56:32.073899Z",
     "iopub.status.idle": "2026-04-18T21:56:32.157491Z",
     "shell.execute_reply": "2026-04-18T21:56:32.156549Z"
    }
   },
   "outputs": [
    {
     "data": {
      "image/png": "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",
      "text/plain": [
       "<Figure size 800x800 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# Define circular motion\n",
    "center = np.array([0, 0, 1.5])\n",
    "radius = 50  # meters\n",
    "angular_velocity = 2 * np.pi / 10  # rad/s (complete circle in 10 seconds)\n",
    "time_steps = np.linspace(0, 10, 50)  # 10 seconds, 50 steps\n",
    "\n",
    "circular_positions = np.array(\n",
    "    [\n",
    "        [\n",
    "            center[0] + radius * np.cos(angular_velocity * t),\n",
    "            center[1] + radius * np.sin(angular_velocity * t),\n",
    "            center[2],\n",
    "        ]\n",
    "        for t in time_steps\n",
    "    ]\n",
    ")\n",
    "\n",
    "plt.figure(figsize=(8, 8))\n",
    "plt.plot(circular_positions[:, 0], circular_positions[:, 1], \"o-\")\n",
    "plt.xlabel(\"X (m)\")\n",
    "plt.ylabel(\"Y (m)\")\n",
    "plt.title(\"Circular Motion Trajectory\")\n",
    "plt.axis(\"equal\")\n",
    "plt.grid(visible=True)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "ecd5f905",
   "metadata": {},
   "source": [
    "## Maximum Doppler Shift"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "id": "5615c2eb",
   "metadata": {
    "execution": {
     "iopub.execute_input": "2026-04-18T21:56:32.159488Z",
     "iopub.status.busy": "2026-04-18T21:56:32.159261Z",
     "iopub.status.idle": "2026-04-18T21:56:32.162875Z",
     "shell.execute_reply": "2026-04-18T21:56:32.162412Z"
    }
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Carrier frequency: 3.5 GHz\n",
      "Maximum velocity: 30 m/s\n",
      "Maximum Doppler shift: 350.00 Hz\n"
     ]
    }
   ],
   "source": [
    "# Calculate maximum Doppler shift\n",
    "carrier_freq = 3.5e9  # 3.5 GHz\n",
    "speed_of_light = 3e8  # m/s\n",
    "max_velocity = 30  # m/s (108 km/h)\n",
    "\n",
    "max_doppler = (max_velocity / speed_of_light) * carrier_freq\n",
    "\n",
    "print(f\"Carrier frequency: {carrier_freq / 1e9} GHz\")\n",
    "print(f\"Maximum velocity: {max_velocity} m/s\")\n",
    "print(f\"Maximum Doppler shift: {max_doppler:.2f} Hz\")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "c34d9b20",
   "metadata": {},
   "source": [
    "---\n",
    "\n",
    "## Next Steps\n",
    "\n",
    "Continue with:\n",
    "- **Tutorial 6: Beamforming** - Implement beamforming and spatial processing\n",
    "- **Tutorial 7: Convert & Upload Ray-tracing dataset** - Work with external ray tracers"
   ]
  }
 ],
 "metadata": {
  "jupytext": {
   "cell_metadata_filter": "-all",
   "main_language": "python",
   "notebook_metadata_filter": "-all"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.14.4"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}