{ "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" }