{
 "family": "StackTwoBlocks",
 "variation": "PositionAndOrientation",
 "env_name": "StackTwoBlocksPositionAndOrientation",
 "episode_index": 20,
 "seed": 1020,
 "policy_seed": 0,
 "control_frequency": 20,
 "max_steps": 400,
 "steps": 71,
 "termination": "success",
 "error": null,
 "sim_time_s": 3.55,
 "wall_time_s": 1.5707879066467285,
 "raw": {
  "completion_time": 1.568476915359497,
  "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": 0.13798167445302098,
   "block_0-gripper_Right": 0.2039761950535852,
   "block_1-gripper_Left": 0.09797609179679023,
   "block_1-gripper_Right": 0.18216021622686657,
   "cube 1 lift distance": 0.0007563072204550547,
   "cube 2 lift distance": 0.04073713947369506,
   "inter-block distance": 0.04051304888424208
  },
  "success": 1.0,
  "cartesian_path_length": {
   "left": 0.7891166067381434,
   "right": 0.510108257391155
  },
  "total_cartesian_path_length": 1.2992248641292985,
  "avg_cartesian_path_length": 0.6496124320646492,
  "joint_path_length": {
   "left": 2.8432586478527835,
   "right": 1.8053888102551927
  },
  "total_joint_path_length": 4.648647458107976,
  "avg_joint_path_length": 2.324323729053988,
  "orientation_path_length": {
   "left": 0.6986116134225369,
   "right": 0.13879860957952458
  },
  "total_orientation_path_length": 0.8374102230020615,
  "avg_orientation_path_length": 0.41870511150103074,
  "avg_cartesian_jerk": {
   "left": 13.400596614665224,
   "right": 11.740231427797026
  },
  "rms_cartesian_jerk": {
   "left": 18.097459754881754,
   "right": 17.859675764184875
  },
  "avg_joint_jerk": {
   "left": 61.673151050924886,
   "right": 45.590470515393676
  },
  "rms_joint_jerk": {
   "left": 81.02502420120001,
   "right": 71.94767478979226
  },
  "bimanual_arm_velocity_difference": 0.4024323082030075,
  "bimanual_gripper_vertical_difference": 0.02909632844777418,
  "overall_avg_cartesian_jerk": 12.570414021231125,
  "overall_rms_cartesian_jerk": 17.978960870714655,
  "overall_avg_joint_jerk": 53.63181078315928,
  "overall_rms_joint_jerk": 76.62089288980766,
  "task_success": 1.0
 },
 "metrics": {
  "success": 1.0,
  "tp": 1.0,
  "bavd": 0.4024323082030075,
  "bgvd": 0.02909632844777418,
  "cpl": 1.2992248641292985,
  "ct": 3.55,
  "ecc": 0.0,
  "jpl": 4.648647458107976,
  "mcj": 12.570414021231125,
  "mjj": 53.63181078315928,
  "opl": 0.8374102230020615,
  "scc": 0.0,
  "sc": 0.0,
  "tl": 71.0
 },
 "actions_file": "episode_20.npz",
 "actions_sha256": "c3d3a4a5854e97c6eae6245b676ae1e534a32f15d3fdc8605bafad25aebb09e2"
}