{ "family": "StackTwoBlocks", "variation": "PositionAndOrientation", "env_name": "StackTwoBlocksPositionAndOrientation", "episode_index": 26, "seed": 1026, "policy_seed": 0, "control_frequency": 20, "max_steps": 400, "steps": 134, "termination": "success", "error": null, "sim_time_s": 6.7, "wall_time_s": 2.9653422832489014, "raw": { "completion_time": 2.963045835494995, "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": 0.19892869891496406, "block_0-gripper_Right": 0.13764218642732304, "block_1-gripper_Left": 0.17470920536188264, "block_1-gripper_Right": 0.09746698171929932, "cube 1 lift distance": 0.0005390594577808772, "cube 2 lift distance": 0.040625854476323164, "inter-block distance": 0.040460559523528276 }, "success": 1.0, "cartesian_path_length": { "left": 0.8805461484597257, "right": 0.6847750675844719 }, "total_cartesian_path_length": 1.5653212160441976, "avg_cartesian_path_length": 0.7826606080220988, "joint_path_length": { "left": 3.1356329269880514, "right": 2.6157912915738466 }, "total_joint_path_length": 5.751424218561898, "avg_joint_path_length": 2.875712109280949, "orientation_path_length": { "left": 0.12422950619986259, "right": 0.8063904495244066 }, "total_orientation_path_length": 0.9306199557242693, "avg_orientation_path_length": 0.4653099778621346, "avg_cartesian_jerk": { "left": 10.272606809331968, "right": 7.3433947509439275 }, "rms_cartesian_jerk": { "left": 18.009621597335066, "right": 13.864261511240834 }, "avg_joint_jerk": { "left": 40.874071332239936, "right": 31.71854313628177 }, "rms_joint_jerk": { "left": 71.47166889484367, "right": 57.999349517305426 }, "bimanual_arm_velocity_difference": 0.3521954837126375, "bimanual_gripper_vertical_difference": 0.040611844205057986, "overall_avg_cartesian_jerk": 8.808000780137947, "overall_rms_cartesian_jerk": 16.071157664139687, "overall_avg_joint_jerk": 36.29630723426085, "overall_rms_joint_jerk": 65.08503667911974, "task_success": 1.0 }, "metrics": { "success": 1.0, "tp": 1.0, "bavd": 0.3521954837126375, "bgvd": 0.040611844205057986, "cpl": 1.5653212160441976, "ct": 6.7, "ecc": 0.0, "jpl": 5.751424218561898, "mcj": 8.808000780137947, "mjj": 36.29630723426085, "opl": 0.9306199557242693, "scc": 0.0, "sc": 0.0, "tl": 134.0 }, "actions_file": "episode_26.npz", "actions_sha256": "c4c3411d1bd5005b8b81da0c29ec2b3569f251e556ca41ef470709a70175a43c" }