{
 "family": "StackTwoBlocks",
 "variation": "PositionAndOrientation",
 "env_name": "StackTwoBlocksPositionAndOrientation",
 "episode_index": 16,
 "seed": 1016,
 "policy_seed": 0,
 "control_frequency": 20,
 "max_steps": 400,
 "steps": 79,
 "termination": "success",
 "error": null,
 "sim_time_s": 3.95,
 "wall_time_s": 1.8271846771240234,
 "raw": {
  "completion_time": 1.824815273284912,
  "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": 0.09820647973076048,
   "block_0-gripper_Right": 0.1792277152425304,
   "block_1-gripper_Left": 0.13822099841362523,
   "block_1-gripper_Right": 0.20354991675800965,
   "cube 1 lift distance": 0.04009408124807079,
   "cube 2 lift distance": 0.00010416146234759616,
   "inter-block distance": 0.04036067671540187
  },
  "success": 1.0,
  "cartesian_path_length": {
   "left": 0.6627695926741389,
   "right": 0.6043031202881833
  },
  "total_cartesian_path_length": 1.2670727129623223,
  "avg_cartesian_path_length": 0.6335363564811611,
  "joint_path_length": {
   "left": 2.5419893254582755,
   "right": 2.072919086689655
  },
  "total_joint_path_length": 4.614908412147931,
  "avg_joint_path_length": 2.3074542060739653,
  "orientation_path_length": {
   "left": 0.5703480718093291,
   "right": 0.5622399360140007
  },
  "total_orientation_path_length": 1.1325880078233297,
  "avg_orientation_path_length": 0.5662940039116648,
  "avg_cartesian_jerk": {
   "left": 12.855298172664838,
   "right": 10.549765375308263
  },
  "rms_cartesian_jerk": {
   "left": 17.54946138454018,
   "right": 16.40378676344867
  },
  "avg_joint_jerk": {
   "left": 51.275463911021006,
   "right": 47.157967336537375
  },
  "rms_joint_jerk": {
   "left": 69.89748169293262,
   "right": 79.29667363304245
  },
  "bimanual_arm_velocity_difference": 0.5092753329629836,
  "bimanual_gripper_vertical_difference": 0.0424611406205038,
  "overall_avg_cartesian_jerk": 11.70253177398655,
  "overall_rms_cartesian_jerk": 16.986285866371155,
  "overall_avg_joint_jerk": 49.21671562377919,
  "overall_rms_joint_jerk": 74.74496771114126,
  "task_success": 1.0
 },
 "metrics": {
  "success": 1.0,
  "tp": 1.0,
  "bavd": 0.5092753329629836,
  "bgvd": 0.0424611406205038,
  "cpl": 1.2670727129623223,
  "ct": 3.95,
  "ecc": 0.0,
  "jpl": 4.614908412147931,
  "mcj": 11.70253177398655,
  "mjj": 49.21671562377919,
  "opl": 1.1325880078233297,
  "scc": 0.0,
  "sc": 0.0,
  "tl": 79.0
 },
 "actions_file": "episode_16.npz",
 "actions_sha256": "1f455a32d49b76d89d455979e71d940e27ee99f0465f03f53063fd61b177a485"
}