LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_0.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 0, | |
| "seed": 1000, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 104, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 5.2, | |
| "wall_time_s": 2.2727742195129395, | |
| "raw": { | |
| "completion_time": 2.2693111896514893, | |
| "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": 0.09849899707817604, | |
| "block_0-gripper_Right": 0.17977390435955645, | |
| "block_1-gripper_Left": 0.13852036563137457, | |
| "block_1-gripper_Right": 0.2029232378663064, | |
| "cube 1 lift distance": 0.04007357754793661, | |
| "cube 2 lift distance": 9.093994076347922e-05, | |
| "inter-block distance": 0.04046023587114306 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.635891952196435, | |
| "right": 0.6524541277402519 | |
| }, | |
| "total_cartesian_path_length": 1.2883460799366868, | |
| "avg_cartesian_path_length": 0.6441730399683434, | |
| "joint_path_length": { | |
| "left": 2.2181461000256366, | |
| "right": 2.6808572237146278 | |
| }, | |
| "total_joint_path_length": 4.899003323740264, | |
| "avg_joint_path_length": 2.449501661870132, | |
| "orientation_path_length": { | |
| "left": 0.2926010918292986, | |
| "right": 0.740217155943982 | |
| }, | |
| "total_orientation_path_length": 1.0328182477732806, | |
| "avg_orientation_path_length": 0.5164091238866403, | |
| "avg_cartesian_jerk": { | |
| "left": 9.141285183709822, | |
| "right": 7.662601607693639 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 14.620463951225387, | |
| "right": 13.891574256987376 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 38.29836312801937, | |
| "right": 37.48414653444755 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 62.13754159964763, | |
| "right": 73.52825912825323 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.46584330853187544, | |
| "bimanual_gripper_vertical_difference": 0.051936086171030564, | |
| "overall_avg_cartesian_jerk": 8.40194339570173, | |
| "overall_rms_cartesian_jerk": 14.260676728095259, | |
| "overall_avg_joint_jerk": 37.89125483123346, | |
| "overall_rms_joint_jerk": 68.07157617713686, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.46584330853187544, | |
| "bgvd": 0.051936086171030564, | |
| "cpl": 1.2883460799366868, | |
| "ct": 5.2, | |
| "ecc": 0.0, | |
| "jpl": 4.899003323740264, | |
| "mcj": 8.40194339570173, | |
| "mjj": 37.89125483123346, | |
| "opl": 1.0328182477732806, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 104.0 | |
| }, | |
| "actions_file": "episode_0.npz", | |
| "actions_sha256": "4fcefff5a48c0d93fffcf7d2c8aa1ce6d09338ef2930058658b2990e878330db" | |
| } |