File size: 2,773 Bytes
05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa df9daa6 05dbafa | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 | {
"family": "StackTwoBlocks",
"variation": "PositionAndOrientation",
"env_name": "StackTwoBlocksPositionAndOrientation",
"episode_index": 2,
"seed": 1002,
"policy_seed": 0,
"control_frequency": 20,
"max_steps": 400,
"steps": 72,
"termination": "success",
"error": null,
"sim_time_s": 3.6,
"wall_time_s": 1.6843559741973877,
"raw": {
"completion_time": 1.681919813156128,
"slip_count": 0,
"slip_count_per_object": {
"137660033152576": 0,
"137660088981904": 0
},
"env_collision_count": 0,
"self_collision_count": 0,
"task_stage_reached": {
"1": true,
"2": true,
"3": true
},
"subtask_progress": 1.0,
"target_distance": {
"block_0-gripper_Left": 0.13801200498949603,
"block_0-gripper_Right": 0.20230743465298687,
"block_1-gripper_Left": 0.0979289699768821,
"block_1-gripper_Right": 0.17891152557885043,
"cube 1 lift distance": 0.00013601197373747098,
"cube 2 lift distance": 0.04013133696914273,
"inter-block distance": 0.040454532832293354
},
"success": 1.0,
"cartesian_path_length": {
"left": 0.7397914907509499,
"right": 0.5358142267060345
},
"total_cartesian_path_length": 1.2756057174569844,
"avg_cartesian_path_length": 0.6378028587284922,
"joint_path_length": {
"left": 2.7091173973472746,
"right": 2.004526908267622
},
"total_joint_path_length": 4.7136443056148964,
"avg_joint_path_length": 2.3568221528074482,
"orientation_path_length": {
"left": 0.1578291610263812,
"right": 0.4201210250217517
},
"total_orientation_path_length": 0.5779501860481329,
"avg_orientation_path_length": 0.28897509302406643,
"avg_cartesian_jerk": {
"left": 14.698188585154346,
"right": 11.251836545778376
},
"rms_cartesian_jerk": {
"left": 19.69045121307932,
"right": 17.203806617667528
},
"avg_joint_jerk": {
"left": 60.836466967289816,
"right": 50.47974858453796
},
"rms_joint_jerk": {
"left": 82.38408115288662,
"right": 80.74925179606642
},
"bimanual_arm_velocity_difference": 0.3957461241073618,
"bimanual_gripper_vertical_difference": 0.030876692836727695,
"overall_avg_cartesian_jerk": 12.975012565466361,
"overall_rms_cartesian_jerk": 18.488980922603034,
"overall_avg_joint_jerk": 55.65810777591389,
"overall_rms_joint_jerk": 81.5707622038373,
"task_success": 1.0
},
"metrics": {
"success": 1.0,
"tp": 1.0,
"bavd": 0.3957461241073618,
"bgvd": 0.030876692836727695,
"cpl": 1.2756057174569844,
"ct": 3.6,
"ecc": 0.0,
"jpl": 4.7136443056148964,
"mcj": 12.975012565466361,
"mjj": 55.65810777591389,
"opl": 0.5779501860481329,
"scc": 0.0,
"sc": 0.0,
"tl": 72.0
},
"actions_file": "episode_2.npz",
"actions_sha256": "acb3c8b3beb9fd126eb2103dc8124c4075a9777490f951a277abbbe37c6d4e49"
} |