{ "family": "StackTwoBlocks", "variation": "PositionAndOrientation", "env_name": "StackTwoBlocksPositionAndOrientation", "episode_index": 15, "seed": 1015, "policy_seed": 0, "control_frequency": 20, "max_steps": 400, "steps": 77, "termination": "success", "error": null, "sim_time_s": 3.85, "wall_time_s": 1.6961772441864014, "raw": { "completion_time": 1.6935415267944336, "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": 0.17447532867128182, "block_0-gripper_Right": 0.09675430636070065, "block_1-gripper_Left": 0.1984894180794043, "block_1-gripper_Right": 0.13679656608791815, "cube 1 lift distance": 0.040098811875206364, "cube 2 lift distance": 0.00010357509843417212, "inter-block distance": 0.04011651972819037 }, "success": 1.0, "cartesian_path_length": { "left": 0.622338024543185, "right": 0.7056031264927075 }, "total_cartesian_path_length": 1.3279411510358925, "avg_cartesian_path_length": 0.6639705755179462, "joint_path_length": { "left": 2.238035516948509, "right": 2.625979236443044 }, "total_joint_path_length": 4.864014753391553, "avg_joint_path_length": 2.4320073766957764, "orientation_path_length": { "left": 0.8843158870331238, "right": 0.8959768400265181 }, "total_orientation_path_length": 1.780292727059642, "avg_orientation_path_length": 0.890146363529821, "avg_cartesian_jerk": { "left": 13.473373607883842, "right": 15.976333625543223 }, "rms_cartesian_jerk": { "left": 18.88618837453967, "right": 22.258822260353213 }, "avg_joint_jerk": { "left": 56.37251566515177, "right": 56.87244675743179 }, "rms_joint_jerk": { "left": 85.58448690452043, "right": 76.38453203829435 }, "bimanual_arm_velocity_difference": 0.39430172668842806, "bimanual_gripper_vertical_difference": 0.03608934673076761, "overall_avg_cartesian_jerk": 14.724853616713533, "overall_rms_cartesian_jerk": 20.641502849073188, "overall_avg_joint_jerk": 56.622481211291785, "overall_rms_joint_jerk": 81.11504525493173, "task_success": 1.0 }, "metrics": { "success": 1.0, "tp": 1.0, "bavd": 0.39430172668842806, "bgvd": 0.03608934673076761, "cpl": 1.3279411510358925, "ct": 3.85, "ecc": 0.0, "jpl": 4.864014753391553, "mcj": 14.724853616713533, "mjj": 56.622481211291785, "opl": 1.780292727059642, "scc": 0.0, "sc": 0.0, "tl": 77.0 }, "actions_file": "episode_15.npz", "actions_sha256": "d7eecba80cfad55af93a6c079c9a023b6b37ebd24aaf46f190166d5cadcfdda0" }