pkl file to reproduce navsim v2 metrics?

Hello, thank you for your work, could you explain how to reproduce navsim v2 "navhard" metrics from article? 
Do I need to generate similar pickle(navsim_emu_vla_256_144_test_pre_1s.pkl from hf) but using navhard data and  tools/pickle_gen/pickle_generation_navsim_pre_1s.py? 
