LocalModels-ACT-bimanual / official_run /logs /StackTwoBlocks_PositionAndOrientation /episode_1.json
| { | |
| "family": "StackTwoBlocks", | |
| "variation": "PositionAndOrientation", | |
| "env_name": "StackTwoBlocksPositionAndOrientation", | |
| "episode_index": 1, | |
| "seed": 1001, | |
| "policy_seed": 0, | |
| "control_frequency": 20, | |
| "max_steps": 400, | |
| "steps": 109, | |
| "termination": "success", | |
| "error": null, | |
| "sim_time_s": 5.45, | |
| "wall_time_s": 2.484438180923462, | |
| "raw": { | |
| "completion_time": 2.4819416999816895, | |
| "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": 0.18074500440516728, | |
| "block_0-gripper_Right": 0.09842610395523388, | |
| "block_1-gripper_Left": 0.20445558952934673, | |
| "block_1-gripper_Right": 0.1384774443573297, | |
| "cube 1 lift distance": 0.04011419827531637, | |
| "cube 2 lift distance": 0.0001224655956135745, | |
| "inter-block distance": 0.04035907862819706 | |
| }, | |
| "success": 1.0, | |
| "cartesian_path_length": { | |
| "left": 0.8443113759564653, | |
| "right": 0.7324055837079275 | |
| }, | |
| "total_cartesian_path_length": 1.5767169596643928, | |
| "avg_cartesian_path_length": 0.7883584798321964, | |
| "joint_path_length": { | |
| "left": 2.9304118873175264, | |
| "right": 2.8588118952971207 | |
| }, | |
| "total_joint_path_length": 5.789223782614647, | |
| "avg_joint_path_length": 2.8946118913073233, | |
| "orientation_path_length": { | |
| "left": 0.2673511033889221, | |
| "right": 0.20502892202002568 | |
| }, | |
| "total_orientation_path_length": 0.47238002540894775, | |
| "avg_orientation_path_length": 0.23619001270447387, | |
| "avg_cartesian_jerk": { | |
| "left": 12.322698940402098, | |
| "right": 9.745160561588879 | |
| }, | |
| "rms_cartesian_jerk": { | |
| "left": 19.285952827756454, | |
| "right": 15.738772381852701 | |
| }, | |
| "avg_joint_jerk": { | |
| "left": 49.82380028582414, | |
| "right": 42.42849446445171 | |
| }, | |
| "rms_joint_jerk": { | |
| "left": 77.91296828095528, | |
| "right": 69.67338047217385 | |
| }, | |
| "bimanual_arm_velocity_difference": 0.4456852397304364, | |
| "bimanual_gripper_vertical_difference": 0.03782951496064767, | |
| "overall_avg_cartesian_jerk": 11.033929750995489, | |
| "overall_rms_cartesian_jerk": 17.601944957336627, | |
| "overall_avg_joint_jerk": 46.12614737513792, | |
| "overall_rms_joint_jerk": 73.90808674552954, | |
| "task_success": 1.0 | |
| }, | |
| "metrics": { | |
| "success": 1.0, | |
| "tp": 1.0, | |
| "bavd": 0.4456852397304364, | |
| "bgvd": 0.03782951496064767, | |
| "cpl": 1.5767169596643928, | |
| "ct": 5.45, | |
| "ecc": 0.0, | |
| "jpl": 5.789223782614647, | |
| "mcj": 11.033929750995489, | |
| "mjj": 46.12614737513792, | |
| "opl": 0.47238002540894775, | |
| "scc": 0.0, | |
| "sc": 0.0, | |
| "tl": 109.0 | |
| }, | |
| "actions_file": "episode_1.npz", | |
| "actions_sha256": "ced553b68ec2d9a99133e1073d4946b38c138f5df95e2e55145eec7f578aa65d" | |
| } |