{ "family": "StackTwoBlocks", "variation": "PositionAndOrientation", "env_name": "StackTwoBlocksPositionAndOrientation", "episode_index": 21, "seed": 1021, "policy_seed": 0, "control_frequency": 20, "max_steps": 400, "steps": 71, "termination": "success", "error": null, "sim_time_s": 3.55, "wall_time_s": 1.7836313247680664, "raw": { "completion_time": 1.7812161445617676, "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": 0.1788588076351069, "block_0-gripper_Right": 0.09799345518320957, "block_1-gripper_Left": 0.20321174424358013, "block_1-gripper_Right": 0.13807009224951158, "cube 1 lift distance": 0.0401317460388364, "cube 2 lift distance": 0.0001290779827457511, "inter-block distance": 0.040300662952849474 }, "success": 1.0, "cartesian_path_length": { "left": 0.5208636195578569, "right": 0.7660826459701844 }, "total_cartesian_path_length": 1.2869462655280413, "avg_cartesian_path_length": 0.6434731327640206, "joint_path_length": { "left": 2.1435277774418835, "right": 3.3494144714421434 }, "total_joint_path_length": 5.492942248884027, "avg_joint_path_length": 2.7464711244420137, "orientation_path_length": { "left": 0.6096212836013406, "right": 0.7994554546333423 }, "total_orientation_path_length": 1.409076738234683, "avg_orientation_path_length": 0.7045383691173415, "avg_cartesian_jerk": { "left": 11.471917200670923, "right": 13.510749318077105 }, "rms_cartesian_jerk": { "left": 17.64681975406056, "right": 18.597520036785447 }, "avg_joint_jerk": { "left": 48.53527547992166, "right": 64.18925142015608 }, "rms_joint_jerk": { "left": 79.30749681135454, "right": 86.16248707005498 }, "bimanual_arm_velocity_difference": 0.3687187058881844, "bimanual_gripper_vertical_difference": 0.03139201471105831, "overall_avg_cartesian_jerk": 12.491333259374013, "overall_rms_cartesian_jerk": 18.12840311432502, "overall_avg_joint_jerk": 56.36226345003887, "overall_rms_joint_jerk": 82.80595760143228, "task_success": 1.0 }, "metrics": { "success": 1.0, "tp": 1.0, "bavd": 0.3687187058881844, "bgvd": 0.03139201471105831, "cpl": 1.2869462655280413, "ct": 3.55, "ecc": 0.0, "jpl": 5.492942248884027, "mcj": 12.491333259374013, "mjj": 56.36226345003887, "opl": 1.409076738234683, "scc": 0.0, "sc": 0.0, "tl": 71.0 }, "actions_file": "episode_21.npz", "actions_sha256": "f6226bc410956e4bd1db0a25086f3cbc4529d33b1df4e0fc00138d34c56f4374" }