| { |
| "base_config": "parallelvla_clean_pcd", |
| "camera_validation": { |
| "episode": 23, |
| "fovy_deg": { |
| "left": 90.0, |
| "right": 90.0 |
| }, |
| "frames": 163, |
| "head_unique_frame_ratio": 0.9570552147239264, |
| "main_camera_policy": "native_dynamic", |
| "maximum_mount_distance_error_m": 4.2453085186133777e-08, |
| "maximum_wrist_consecutive_dark_frames": 0, |
| "maximum_wrist_dark_frame_fraction": 0.0, |
| "minimum_wrist_median_luminance": 200.17543402777778, |
| "parallel_head_unique_frame_ratio": 0.9655172413793104, |
| "preset": { |
| "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5", |
| "fovx_deg": 106.26020470831195, |
| "fovy_deg": 90.0, |
| "gripper_to_camera_matrix": [ |
| [ |
| 0.9886695961968883, |
| -1.5244567471983168e-06, |
| 0.15010833103640953, |
| 0.06999997201749193 |
| ], |
| [ |
| 1.567728436833223e-06, |
| 1.0000000058018184, |
| 6.430025196775677e-08, |
| 2.011452240730468e-09 |
| ], |
| [ |
| -0.15010829523993077, |
| 1.6325174712825714e-07, |
| 0.988669555703279, |
| 0.06500000893891618 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "height": 240, |
| "name": "centered_fovy90", |
| "overrides_robotwin_default": true, |
| "width": 320 |
| }, |
| "status": "passed", |
| "wrist_consecutive_dark_frames": { |
| "left": 0, |
| "right": 0 |
| }, |
| "wrist_dark_frame_fraction": { |
| "left": 0.0, |
| "right": 0.0 |
| }, |
| "wrist_median_luminance": { |
| "left": 214.13232204861112, |
| "right": 200.17543402777778 |
| } |
| }, |
| "collision_summary": { |
| "contact_step_indices": [], |
| "first_risk_step": null, |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1566534198706058, |
| "moves": { |
| "object_place": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.23745406038107317 |
| }, |
| "scanner_align": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1566534198706058 |
| }, |
| "scanner_grasp+object_grasp": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.22467944857594768 |
| }, |
| "scanner_lift+object_lift": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.2628703901253949 |
| } |
| }, |
| "physics_steps_checked": 2171 |
| }, |
| "episode_index": 23, |
| "motion_cross_check": { |
| "object_place": { |
| "active_union_frames": 36, |
| "first_motion_frame": [ |
| 88, |
| null |
| ], |
| "frames": 41, |
| "left_motion_frames": 36, |
| "overlap_frames": 0, |
| "overlap_ratio_active": 0.0, |
| "overlap_ratio_all": 0.0, |
| "right_motion_frames": 0 |
| }, |
| "scanner_align": { |
| "active_union_frames": 32, |
| "first_motion_frame": [ |
| null, |
| 129 |
| ], |
| "frames": 35, |
| "left_motion_frames": 0, |
| "overlap_frames": 0, |
| "overlap_ratio_active": 0.0, |
| "overlap_ratio_all": 0.0, |
| "right_motion_frames": 32 |
| }, |
| "scanner_grasp+object_grasp": { |
| "active_union_frames": 55, |
| "first_motion_frame": [ |
| 3, |
| 3 |
| ], |
| "frames": 70, |
| "left_motion_frames": 55, |
| "overlap_frames": 55, |
| "overlap_ratio_active": 1.0, |
| "overlap_ratio_all": 0.7857142857142857, |
| "right_motion_frames": 55 |
| }, |
| "scanner_lift+object_lift": { |
| "active_union_frames": 15, |
| "first_motion_frame": [ |
| 71, |
| 71 |
| ], |
| "frames": 17, |
| "left_motion_frames": 15, |
| "overlap_frames": 15, |
| "overlap_ratio_active": 1.0, |
| "overlap_ratio_all": 0.8823529411764706, |
| "right_motion_frames": 15 |
| } |
| }, |
| "moves": [ |
| { |
| "active_arms": [ |
| "right", |
| "left" |
| ], |
| "avoidable_idle_seconds": 0.0, |
| "end_frame": 70, |
| "end_physics_step": 941, |
| "held_objects": [ |
| "scanner", |
| "object" |
| ], |
| "move_index": 0, |
| "name": "scanner_grasp+object_grasp", |
| "node_ids": [ |
| "scanner_grasp", |
| "object_grasp" |
| ], |
| "predecessors": [], |
| "resources": [ |
| "left_arm", |
| "right_arm", |
| "scanner", |
| "object" |
| ], |
| "semantic_phase": "dual_grasp", |
| "start_frame": 0, |
| "start_physics_step": 0, |
| "true_dependency_wait_arms": [], |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| { |
| "active_arms": [ |
| "right", |
| "left" |
| ], |
| "avoidable_idle_seconds": 0.0, |
| "end_frame": 87, |
| "end_physics_step": 1165, |
| "held_objects": [ |
| "scanner", |
| "object" |
| ], |
| "move_index": 1, |
| "name": "scanner_lift+object_lift", |
| "node_ids": [ |
| "scanner_lift", |
| "object_lift" |
| ], |
| "predecessors": [ |
| "scanner_grasp", |
| "object_grasp" |
| ], |
| "resources": [ |
| "left_arm", |
| "right_arm", |
| "scanner", |
| "object" |
| ], |
| "semantic_phase": "dual_lift", |
| "start_frame": 70, |
| "start_physics_step": 941, |
| "true_dependency_wait_arms": [], |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| { |
| "active_arms": [ |
| "left" |
| ], |
| "avoidable_idle_seconds": 2.172, |
| "end_frame": 128, |
| "end_physics_step": 1708, |
| "held_objects": [ |
| "object" |
| ], |
| "move_index": 2, |
| "name": "object_place", |
| "node_ids": [ |
| "object_place" |
| ], |
| "predecessors": [ |
| "object_lift" |
| ], |
| "resources": [ |
| "left_arm", |
| "object" |
| ], |
| "semantic_phase": "object_place", |
| "start_frame": 87, |
| "start_physics_step": 1165, |
| "true_dependency_wait_arms": [], |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| { |
| "active_arms": [ |
| "right" |
| ], |
| "avoidable_idle_seconds": 0.0, |
| "end_frame": 163, |
| "end_physics_step": 2171, |
| "held_objects": [ |
| "scanner" |
| ], |
| "move_index": 3, |
| "name": "scanner_align", |
| "node_ids": [ |
| "scanner_align" |
| ], |
| "predecessors": [ |
| "scanner_lift", |
| "object_place" |
| ], |
| "resources": [ |
| "right_arm", |
| "scanner" |
| ], |
| "semantic_phase": "scanner_align", |
| "start_frame": 128, |
| "start_physics_step": 1708, |
| "true_dependency_wait_arms": [], |
| "true_dependency_wait_seconds": 0.0 |
| } |
| ], |
| "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", |
| "renderer_validation": { |
| "camera_shader": "rt", |
| "episode": 23, |
| "ray_tracing_denoiser": "optix", |
| "status": "passed" |
| }, |
| "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", |
| "robotwin_worktree_status": [ |
| " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", |
| " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", |
| " M assets/objects/122_metal-spacer-sleeve/model_data0.json", |
| " M assets/objects/122_metal-spacer-sleeve/points_info.json", |
| " M envs/_base_task.py", |
| " M envs/insert_bolt_sleeve.py", |
| " M envs/utils/pkl2hdf5.py", |
| " M envs/utils/transforms.py", |
| " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", |
| "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", |
| "?? .tmp_search_head_pivot.py", |
| "?? .tmp_search_horizontal_regrasp.py", |
| "?? .tmp_search_vertical_roll.py", |
| "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", |
| "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", |
| "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", |
| "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", |
| "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", |
| "?? envs/_base_task.py.orig", |
| "?? envs/insert_bolt_sleeve.py.orig", |
| "?? policy/", |
| "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", |
| "?? task_config/official_aloha_agilex_clean_50.yml", |
| "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", |
| "?? task_config/parallelvla_async_grasp_render.yml", |
| "?? task_config/parallelvla_async_render.yml", |
| "?? task_config/parallelvla_clean_pcd.yml", |
| "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", |
| "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", |
| "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", |
| "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", |
| "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", |
| "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", |
| "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", |
| "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", |
| "?? task_config/parallelvla_clean_pcd_verified_v2.yml", |
| "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", |
| "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", |
| "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", |
| "?? task_config/parallelvla_eval_pcd.yml", |
| "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", |
| "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", |
| "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", |
| "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", |
| "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", |
| "?? task_config/parallelvla_official_concurrent_verified_v1.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml", |
| "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml", |
| "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml", |
| "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml", |
| "?? task_config/parallelvla_retimed_render.yml", |
| "?? task_config/parallelvla_smoke.yml", |
| "?? task_config/parallelvla_temporal_bias_verified_v1.yml" |
| ], |
| "sampled_frames": 163, |
| "scene_identity": { |
| "left_object_target_pose": [ |
| -0.03, |
| -0.02, |
| 0.95, |
| 0.707, |
| 0, |
| -0.707, |
| 0 |
| ], |
| "object_id": 4, |
| "object_pose": [ |
| -0.24441704154014587, |
| -0.05302813649177551, |
| 0.7406973838806152, |
| 0.5934272408485413, |
| 0.5935983061790466, |
| 0.38442763686180115, |
| 0.3843183219432831 |
| ], |
| "right_object_target_pose": [ |
| 0.03, |
| -0.02, |
| 0.95, |
| 0.707, |
| 0, |
| 0.707, |
| 0 |
| ], |
| "scanner_id": 2, |
| "scanner_pose": [ |
| 0.1647319495677948, |
| -0.062453724443912506, |
| 0.7411398887634277, |
| 0.12730772793293, |
| 0.12392441183328629, |
| 0.6952171325683594, |
| 0.6964973211288452 |
| ] |
| }, |
| "schedule_mode": "dependency_aware_overlap", |
| "schedule_plan": null, |
| "schedule_search": null, |
| "schedule_strategy": "beam_dp", |
| "schema_version": 5, |
| "seed": 141, |
| "seed_policy": "independent", |
| "source_commits": { |
| "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", |
| "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" |
| }, |
| "source_files_sha256": { |
| "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11", |
| "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b", |
| "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef", |
| "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e", |
| "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795", |
| "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b", |
| "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3", |
| "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427", |
| "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1", |
| "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1", |
| "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf", |
| "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e", |
| "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba", |
| "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9", |
| "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd", |
| "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058", |
| "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db", |
| "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874", |
| "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "c600984195dd304a053789ad7e44c09cb4bc7c173cf5cbea9d6a5c129cfdfff5", |
| "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f", |
| "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b", |
| "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538", |
| "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405", |
| "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d", |
| "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292" |
| }, |
| "task_config": "parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2", |
| "task_name": "scan_object", |
| "task_specific_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| -0.030760807916522026, |
| -0.019698364660143852, |
| 0.9504342675209045 |
| ], |
| "scanner_functional_point": [ |
| 0.015780876544921014, |
| -0.01676088361083416, |
| 0.9509545592265322, |
| 0.5485973995802712, |
| 0.4601604153647576, |
| -0.5349678596985892, |
| -0.44844472836081944 |
| ] |
| }, |
| "timing_summary": { |
| "active_left_frames": 106, |
| "active_right_frames": 102, |
| "active_union_frames": 138, |
| "avoidable_idle_seconds": 2.172, |
| "frames": 163, |
| "overlap_frames": 70, |
| "overlap_ratio_active": 0.5072463768115942, |
| "overlap_ratio_all": 0.4294478527607362, |
| "overlap_seconds": 2.3333333333333335, |
| "seconds": 5.433333333333334, |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| "training_action_collision_safe": true, |
| "training_action_count": 162, |
| "training_action_execution_intervals": [ |
| { |
| "action_index": 0, |
| "end_physics_step": 50, |
| "physics_steps": 50, |
| "start_physics_step": 0 |
| }, |
| { |
| "action_index": 1, |
| "end_physics_step": 100, |
| "physics_steps": 50, |
| "start_physics_step": 50 |
| }, |
| { |
| "action_index": 2, |
| "end_physics_step": 150, |
| "physics_steps": 50, |
| "start_physics_step": 100 |
| }, |
| { |
| "action_index": 3, |
| "end_physics_step": 221, |
| "physics_steps": 71, |
| "start_physics_step": 150 |
| }, |
| { |
| "action_index": 4, |
| "end_physics_step": 309, |
| "physics_steps": 88, |
| "start_physics_step": 221 |
| }, |
| { |
| "action_index": 5, |
| "end_physics_step": 411, |
| "physics_steps": 102, |
| "start_physics_step": 309 |
| }, |
| { |
| "action_index": 6, |
| "end_physics_step": 525, |
| "physics_steps": 114, |
| "start_physics_step": 411 |
| }, |
| { |
| "action_index": 7, |
| "end_physics_step": 650, |
| "physics_steps": 125, |
| "start_physics_step": 525 |
| }, |
| { |
| "action_index": 8, |
| "end_physics_step": 785, |
| "physics_steps": 135, |
| "start_physics_step": 650 |
| }, |
| { |
| "action_index": 9, |
| "end_physics_step": 927, |
| "physics_steps": 142, |
| "start_physics_step": 785 |
| }, |
| { |
| "action_index": 10, |
| "end_physics_step": 1076, |
| "physics_steps": 149, |
| "start_physics_step": 927 |
| }, |
| { |
| "action_index": 11, |
| "end_physics_step": 1230, |
| "physics_steps": 154, |
| "start_physics_step": 1076 |
| }, |
| { |
| "action_index": 12, |
| "end_physics_step": 1387, |
| "physics_steps": 157, |
| "start_physics_step": 1230 |
| }, |
| { |
| "action_index": 13, |
| "end_physics_step": 1547, |
| "physics_steps": 160, |
| "start_physics_step": 1387 |
| }, |
| { |
| "action_index": 14, |
| "end_physics_step": 1708, |
| "physics_steps": 161, |
| "start_physics_step": 1547 |
| }, |
| { |
| "action_index": 15, |
| "end_physics_step": 1870, |
| "physics_steps": 162, |
| "start_physics_step": 1708 |
| }, |
| { |
| "action_index": 16, |
| "end_physics_step": 2032, |
| "physics_steps": 162, |
| "start_physics_step": 1870 |
| }, |
| { |
| "action_index": 17, |
| "end_physics_step": 2193, |
| "physics_steps": 161, |
| "start_physics_step": 2032 |
| }, |
| { |
| "action_index": 18, |
| "end_physics_step": 2353, |
| "physics_steps": 160, |
| "start_physics_step": 2193 |
| }, |
| { |
| "action_index": 19, |
| "end_physics_step": 2510, |
| "physics_steps": 157, |
| "start_physics_step": 2353 |
| }, |
| { |
| "action_index": 20, |
| "end_physics_step": 2663, |
| "physics_steps": 153, |
| "start_physics_step": 2510 |
| }, |
| { |
| "action_index": 21, |
| "end_physics_step": 2810, |
| "physics_steps": 147, |
| "start_physics_step": 2663 |
| }, |
| { |
| "action_index": 22, |
| "end_physics_step": 2952, |
| "physics_steps": 142, |
| "start_physics_step": 2810 |
| }, |
| { |
| "action_index": 23, |
| "end_physics_step": 3087, |
| "physics_steps": 135, |
| "start_physics_step": 2952 |
| }, |
| { |
| "action_index": 24, |
| "end_physics_step": 3213, |
| "physics_steps": 126, |
| "start_physics_step": 3087 |
| }, |
| { |
| "action_index": 25, |
| "end_physics_step": 3329, |
| "physics_steps": 116, |
| "start_physics_step": 3213 |
| }, |
| { |
| "action_index": 26, |
| "end_physics_step": 3433, |
| "physics_steps": 104, |
| "start_physics_step": 3329 |
| }, |
| { |
| "action_index": 27, |
| "end_physics_step": 3523, |
| "physics_steps": 90, |
| "start_physics_step": 3433 |
| }, |
| { |
| "action_index": 28, |
| "end_physics_step": 3597, |
| "physics_steps": 74, |
| "start_physics_step": 3523 |
| }, |
| { |
| "action_index": 29, |
| "end_physics_step": 3650, |
| "physics_steps": 53, |
| "start_physics_step": 3597 |
| }, |
| { |
| "action_index": 30, |
| "end_physics_step": 3667, |
| "physics_steps": 17, |
| "start_physics_step": 3650 |
| }, |
| { |
| "action_index": 31, |
| "end_physics_step": 3717, |
| "physics_steps": 50, |
| "start_physics_step": 3667 |
| }, |
| { |
| "action_index": 32, |
| "end_physics_step": 3767, |
| "physics_steps": 50, |
| "start_physics_step": 3717 |
| }, |
| { |
| "action_index": 33, |
| "end_physics_step": 3817, |
| "physics_steps": 50, |
| "start_physics_step": 3767 |
| }, |
| { |
| "action_index": 34, |
| "end_physics_step": 3854, |
| "physics_steps": 37, |
| "start_physics_step": 3817 |
| }, |
| { |
| "action_index": 35, |
| "end_physics_step": 3882, |
| "physics_steps": 28, |
| "start_physics_step": 3854 |
| }, |
| { |
| "action_index": 36, |
| "end_physics_step": 3940, |
| "physics_steps": 58, |
| "start_physics_step": 3882 |
| }, |
| { |
| "action_index": 37, |
| "end_physics_step": 4016, |
| "physics_steps": 76, |
| "start_physics_step": 3940 |
| }, |
| { |
| "action_index": 38, |
| "end_physics_step": 4107, |
| "physics_steps": 91, |
| "start_physics_step": 4016 |
| }, |
| { |
| "action_index": 39, |
| "end_physics_step": 4210, |
| "physics_steps": 103, |
| "start_physics_step": 4107 |
| }, |
| { |
| "action_index": 40, |
| "end_physics_step": 4316, |
| "physics_steps": 106, |
| "start_physics_step": 4210 |
| }, |
| { |
| "action_index": 41, |
| "end_physics_step": 4422, |
| "physics_steps": 106, |
| "start_physics_step": 4316 |
| }, |
| { |
| "action_index": 42, |
| "end_physics_step": 4518, |
| "physics_steps": 96, |
| "start_physics_step": 4422 |
| }, |
| { |
| "action_index": 43, |
| "end_physics_step": 4600, |
| "physics_steps": 82, |
| "start_physics_step": 4518 |
| }, |
| { |
| "action_index": 44, |
| "end_physics_step": 4663, |
| "physics_steps": 63, |
| "start_physics_step": 4600 |
| }, |
| { |
| "action_index": 45, |
| "end_physics_step": 4700, |
| "physics_steps": 37, |
| "start_physics_step": 4663 |
| }, |
| { |
| "action_index": 46, |
| "end_physics_step": 4750, |
| "physics_steps": 50, |
| "start_physics_step": 4700 |
| }, |
| { |
| "action_index": 47, |
| "end_physics_step": 4800, |
| "physics_steps": 50, |
| "start_physics_step": 4750 |
| }, |
| { |
| "action_index": 48, |
| "end_physics_step": 4850, |
| "physics_steps": 50, |
| "start_physics_step": 4800 |
| }, |
| { |
| "action_index": 49, |
| "end_physics_step": 4900, |
| "physics_steps": 50, |
| "start_physics_step": 4850 |
| }, |
| { |
| "action_index": 50, |
| "end_physics_step": 4950, |
| "physics_steps": 50, |
| "start_physics_step": 4900 |
| }, |
| { |
| "action_index": 51, |
| "end_physics_step": 5000, |
| "physics_steps": 50, |
| "start_physics_step": 4950 |
| }, |
| { |
| "action_index": 52, |
| "end_physics_step": 5050, |
| "physics_steps": 50, |
| "start_physics_step": 5000 |
| }, |
| { |
| "action_index": 53, |
| "end_physics_step": 5100, |
| "physics_steps": 50, |
| "start_physics_step": 5050 |
| }, |
| { |
| "action_index": 54, |
| "end_physics_step": 5150, |
| "physics_steps": 50, |
| "start_physics_step": 5100 |
| }, |
| { |
| "action_index": 55, |
| "end_physics_step": 5200, |
| "physics_steps": 50, |
| "start_physics_step": 5150 |
| }, |
| { |
| "action_index": 56, |
| "end_physics_step": 5250, |
| "physics_steps": 50, |
| "start_physics_step": 5200 |
| }, |
| { |
| "action_index": 57, |
| "end_physics_step": 5300, |
| "physics_steps": 50, |
| "start_physics_step": 5250 |
| }, |
| { |
| "action_index": 58, |
| "end_physics_step": 5350, |
| "physics_steps": 50, |
| "start_physics_step": 5300 |
| }, |
| { |
| "action_index": 59, |
| "end_physics_step": 5400, |
| "physics_steps": 50, |
| "start_physics_step": 5350 |
| }, |
| { |
| "action_index": 60, |
| "end_physics_step": 5450, |
| "physics_steps": 50, |
| "start_physics_step": 5400 |
| }, |
| { |
| "action_index": 61, |
| "end_physics_step": 5500, |
| "physics_steps": 50, |
| "start_physics_step": 5450 |
| }, |
| { |
| "action_index": 62, |
| "end_physics_step": 5550, |
| "physics_steps": 50, |
| "start_physics_step": 5500 |
| }, |
| { |
| "action_index": 63, |
| "end_physics_step": 5600, |
| "physics_steps": 50, |
| "start_physics_step": 5550 |
| }, |
| { |
| "action_index": 64, |
| "end_physics_step": 5650, |
| "physics_steps": 50, |
| "start_physics_step": 5600 |
| }, |
| { |
| "action_index": 65, |
| "end_physics_step": 5700, |
| "physics_steps": 50, |
| "start_physics_step": 5650 |
| }, |
| { |
| "action_index": 66, |
| "end_physics_step": 5750, |
| "physics_steps": 50, |
| "start_physics_step": 5700 |
| }, |
| { |
| "action_index": 67, |
| "end_physics_step": 5800, |
| "physics_steps": 50, |
| "start_physics_step": 5750 |
| }, |
| { |
| "action_index": 68, |
| "end_physics_step": 5850, |
| "physics_steps": 50, |
| "start_physics_step": 5800 |
| }, |
| { |
| "action_index": 69, |
| "end_physics_step": 5900, |
| "physics_steps": 50, |
| "start_physics_step": 5850 |
| }, |
| { |
| "action_index": 70, |
| "end_physics_step": 5920, |
| "physics_steps": 20, |
| "start_physics_step": 5900 |
| }, |
| { |
| "action_index": 71, |
| "end_physics_step": 5945, |
| "physics_steps": 25, |
| "start_physics_step": 5920 |
| }, |
| { |
| "action_index": 72, |
| "end_physics_step": 6002, |
| "physics_steps": 57, |
| "start_physics_step": 5945 |
| }, |
| { |
| "action_index": 73, |
| "end_physics_step": 6079, |
| "physics_steps": 77, |
| "start_physics_step": 6002 |
| }, |
| { |
| "action_index": 74, |
| "end_physics_step": 6171, |
| "physics_steps": 92, |
| "start_physics_step": 6079 |
| }, |
| { |
| "action_index": 75, |
| "end_physics_step": 6273, |
| "physics_steps": 102, |
| "start_physics_step": 6171 |
| }, |
| { |
| "action_index": 76, |
| "end_physics_step": 6388, |
| "physics_steps": 115, |
| "start_physics_step": 6273 |
| }, |
| { |
| "action_index": 77, |
| "end_physics_step": 6511, |
| "physics_steps": 123, |
| "start_physics_step": 6388 |
| }, |
| { |
| "action_index": 78, |
| "end_physics_step": 6631, |
| "physics_steps": 120, |
| "start_physics_step": 6511 |
| }, |
| { |
| "action_index": 79, |
| "end_physics_step": 6751, |
| "physics_steps": 120, |
| "start_physics_step": 6631 |
| }, |
| { |
| "action_index": 80, |
| "end_physics_step": 6859, |
| "physics_steps": 108, |
| "start_physics_step": 6751 |
| }, |
| { |
| "action_index": 81, |
| "end_physics_step": 6957, |
| "physics_steps": 98, |
| "start_physics_step": 6859 |
| }, |
| { |
| "action_index": 82, |
| "end_physics_step": 7041, |
| "physics_steps": 84, |
| "start_physics_step": 6957 |
| }, |
| { |
| "action_index": 83, |
| "end_physics_step": 7106, |
| "physics_steps": 65, |
| "start_physics_step": 7041 |
| }, |
| { |
| "action_index": 84, |
| "end_physics_step": 7149, |
| "physics_steps": 43, |
| "start_physics_step": 7106 |
| }, |
| { |
| "action_index": 85, |
| "end_physics_step": 7199, |
| "physics_steps": 50, |
| "start_physics_step": 7149 |
| }, |
| { |
| "action_index": 86, |
| "end_physics_step": 7249, |
| "physics_steps": 50, |
| "start_physics_step": 7199 |
| }, |
| { |
| "action_index": 87, |
| "end_physics_step": 7299, |
| "physics_steps": 50, |
| "start_physics_step": 7249 |
| }, |
| { |
| "action_index": 88, |
| "end_physics_step": 7349, |
| "physics_steps": 50, |
| "start_physics_step": 7299 |
| }, |
| { |
| "action_index": 89, |
| "end_physics_step": 7399, |
| "physics_steps": 50, |
| "start_physics_step": 7349 |
| }, |
| { |
| "action_index": 90, |
| "end_physics_step": 7468, |
| "physics_steps": 69, |
| "start_physics_step": 7399 |
| }, |
| { |
| "action_index": 91, |
| "end_physics_step": 7553, |
| "physics_steps": 85, |
| "start_physics_step": 7468 |
| }, |
| { |
| "action_index": 92, |
| "end_physics_step": 7652, |
| "physics_steps": 99, |
| "start_physics_step": 7553 |
| }, |
| { |
| "action_index": 93, |
| "end_physics_step": 7762, |
| "physics_steps": 110, |
| "start_physics_step": 7652 |
| }, |
| { |
| "action_index": 94, |
| "end_physics_step": 7882, |
| "physics_steps": 120, |
| "start_physics_step": 7762 |
| }, |
| { |
| "action_index": 95, |
| "end_physics_step": 8010, |
| "physics_steps": 128, |
| "start_physics_step": 7882 |
| }, |
| { |
| "action_index": 96, |
| "end_physics_step": 8146, |
| "physics_steps": 136, |
| "start_physics_step": 8010 |
| }, |
| { |
| "action_index": 97, |
| "end_physics_step": 8289, |
| "physics_steps": 143, |
| "start_physics_step": 8146 |
| }, |
| { |
| "action_index": 98, |
| "end_physics_step": 8439, |
| "physics_steps": 150, |
| "start_physics_step": 8289 |
| }, |
| { |
| "action_index": 99, |
| "end_physics_step": 8596, |
| "physics_steps": 157, |
| "start_physics_step": 8439 |
| }, |
| { |
| "action_index": 100, |
| "end_physics_step": 8759, |
| "physics_steps": 163, |
| "start_physics_step": 8596 |
| }, |
| { |
| "action_index": 101, |
| "end_physics_step": 8927, |
| "physics_steps": 168, |
| "start_physics_step": 8759 |
| }, |
| { |
| "action_index": 102, |
| "end_physics_step": 9098, |
| "physics_steps": 171, |
| "start_physics_step": 8927 |
| }, |
| { |
| "action_index": 103, |
| "end_physics_step": 9271, |
| "physics_steps": 173, |
| "start_physics_step": 9098 |
| }, |
| { |
| "action_index": 104, |
| "end_physics_step": 9445, |
| "physics_steps": 174, |
| "start_physics_step": 9271 |
| }, |
| { |
| "action_index": 105, |
| "end_physics_step": 9619, |
| "physics_steps": 174, |
| "start_physics_step": 9445 |
| }, |
| { |
| "action_index": 106, |
| "end_physics_step": 9791, |
| "physics_steps": 172, |
| "start_physics_step": 9619 |
| }, |
| { |
| "action_index": 107, |
| "end_physics_step": 9960, |
| "physics_steps": 169, |
| "start_physics_step": 9791 |
| }, |
| { |
| "action_index": 108, |
| "end_physics_step": 10122, |
| "physics_steps": 162, |
| "start_physics_step": 9960 |
| }, |
| { |
| "action_index": 109, |
| "end_physics_step": 10277, |
| "physics_steps": 155, |
| "start_physics_step": 10122 |
| }, |
| { |
| "action_index": 110, |
| "end_physics_step": 10423, |
| "physics_steps": 146, |
| "start_physics_step": 10277 |
| }, |
| { |
| "action_index": 111, |
| "end_physics_step": 10560, |
| "physics_steps": 137, |
| "start_physics_step": 10423 |
| }, |
| { |
| "action_index": 112, |
| "end_physics_step": 10687, |
| "physics_steps": 127, |
| "start_physics_step": 10560 |
| }, |
| { |
| "action_index": 113, |
| "end_physics_step": 10803, |
| "physics_steps": 116, |
| "start_physics_step": 10687 |
| }, |
| { |
| "action_index": 114, |
| "end_physics_step": 10907, |
| "physics_steps": 104, |
| "start_physics_step": 10803 |
| }, |
| { |
| "action_index": 115, |
| "end_physics_step": 10997, |
| "physics_steps": 90, |
| "start_physics_step": 10907 |
| }, |
| { |
| "action_index": 116, |
| "end_physics_step": 11071, |
| "physics_steps": 74, |
| "start_physics_step": 10997 |
| }, |
| { |
| "action_index": 117, |
| "end_physics_step": 11124, |
| "physics_steps": 53, |
| "start_physics_step": 11071 |
| }, |
| { |
| "action_index": 118, |
| "end_physics_step": 11174, |
| "physics_steps": 50, |
| "start_physics_step": 11124 |
| }, |
| { |
| "action_index": 119, |
| "end_physics_step": 11224, |
| "physics_steps": 50, |
| "start_physics_step": 11174 |
| }, |
| { |
| "action_index": 120, |
| "end_physics_step": 11274, |
| "physics_steps": 50, |
| "start_physics_step": 11224 |
| }, |
| { |
| "action_index": 121, |
| "end_physics_step": 11324, |
| "physics_steps": 50, |
| "start_physics_step": 11274 |
| }, |
| { |
| "action_index": 122, |
| "end_physics_step": 11374, |
| "physics_steps": 50, |
| "start_physics_step": 11324 |
| }, |
| { |
| "action_index": 123, |
| "end_physics_step": 11424, |
| "physics_steps": 50, |
| "start_physics_step": 11374 |
| }, |
| { |
| "action_index": 124, |
| "end_physics_step": 11474, |
| "physics_steps": 50, |
| "start_physics_step": 11424 |
| }, |
| { |
| "action_index": 125, |
| "end_physics_step": 11524, |
| "physics_steps": 50, |
| "start_physics_step": 11474 |
| }, |
| { |
| "action_index": 126, |
| "end_physics_step": 11574, |
| "physics_steps": 50, |
| "start_physics_step": 11524 |
| }, |
| { |
| "action_index": 127, |
| "end_physics_step": 11624, |
| "physics_steps": 50, |
| "start_physics_step": 11574 |
| }, |
| { |
| "action_index": 128, |
| "end_physics_step": 11674, |
| "physics_steps": 50, |
| "start_physics_step": 11624 |
| }, |
| { |
| "action_index": 129, |
| "end_physics_step": 11724, |
| "physics_steps": 50, |
| "start_physics_step": 11674 |
| }, |
| { |
| "action_index": 130, |
| "end_physics_step": 11776, |
| "physics_steps": 52, |
| "start_physics_step": 11724 |
| }, |
| { |
| "action_index": 131, |
| "end_physics_step": 11849, |
| "physics_steps": 73, |
| "start_physics_step": 11776 |
| }, |
| { |
| "action_index": 132, |
| "end_physics_step": 11938, |
| "physics_steps": 89, |
| "start_physics_step": 11849 |
| }, |
| { |
| "action_index": 133, |
| "end_physics_step": 12040, |
| "physics_steps": 102, |
| "start_physics_step": 11938 |
| }, |
| { |
| "action_index": 134, |
| "end_physics_step": 12154, |
| "physics_steps": 114, |
| "start_physics_step": 12040 |
| }, |
| { |
| "action_index": 135, |
| "end_physics_step": 12278, |
| "physics_steps": 124, |
| "start_physics_step": 12154 |
| }, |
| { |
| "action_index": 136, |
| "end_physics_step": 12411, |
| "physics_steps": 133, |
| "start_physics_step": 12278 |
| }, |
| { |
| "action_index": 137, |
| "end_physics_step": 12551, |
| "physics_steps": 140, |
| "start_physics_step": 12411 |
| }, |
| { |
| "action_index": 138, |
| "end_physics_step": 12697, |
| "physics_steps": 146, |
| "start_physics_step": 12551 |
| }, |
| { |
| "action_index": 139, |
| "end_physics_step": 12848, |
| "physics_steps": 151, |
| "start_physics_step": 12697 |
| }, |
| { |
| "action_index": 140, |
| "end_physics_step": 13002, |
| "physics_steps": 154, |
| "start_physics_step": 12848 |
| }, |
| { |
| "action_index": 141, |
| "end_physics_step": 13158, |
| "physics_steps": 156, |
| "start_physics_step": 13002 |
| }, |
| { |
| "action_index": 142, |
| "end_physics_step": 13315, |
| "physics_steps": 157, |
| "start_physics_step": 13158 |
| }, |
| { |
| "action_index": 143, |
| "end_physics_step": 13472, |
| "physics_steps": 157, |
| "start_physics_step": 13315 |
| }, |
| { |
| "action_index": 144, |
| "end_physics_step": 13627, |
| "physics_steps": 155, |
| "start_physics_step": 13472 |
| }, |
| { |
| "action_index": 145, |
| "end_physics_step": 13778, |
| "physics_steps": 151, |
| "start_physics_step": 13627 |
| }, |
| { |
| "action_index": 146, |
| "end_physics_step": 13923, |
| "physics_steps": 145, |
| "start_physics_step": 13778 |
| }, |
| { |
| "action_index": 147, |
| "end_physics_step": 14060, |
| "physics_steps": 137, |
| "start_physics_step": 13923 |
| }, |
| { |
| "action_index": 148, |
| "end_physics_step": 14187, |
| "physics_steps": 127, |
| "start_physics_step": 14060 |
| }, |
| { |
| "action_index": 149, |
| "end_physics_step": 14302, |
| "physics_steps": 115, |
| "start_physics_step": 14187 |
| }, |
| { |
| "action_index": 150, |
| "end_physics_step": 14406, |
| "physics_steps": 104, |
| "start_physics_step": 14302 |
| }, |
| { |
| "action_index": 151, |
| "end_physics_step": 14441, |
| "physics_steps": 35, |
| "start_physics_step": 14406 |
| } |
| ], |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", |
| "training_action_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| -0.030837740749120712, |
| -0.02048400230705738, |
| 0.9517895579338074 |
| ], |
| "scanner_functional_point": [ |
| 0.016907397243469548, |
| -0.009207522518158623, |
| 0.933043148014507, |
| 0.5017251018143284, |
| 0.47698784083758256, |
| -0.5853348619125602, |
| -0.4220635276025477 |
| ] |
| }, |
| "training_action_input_frames": 163, |
| "training_action_interarm_contact_steps": 0, |
| "training_action_minimum_capsule_distance_m": 0.15597565290144966, |
| "training_action_preprocessor": "robotwin_next_sample_joint_target_v2", |
| "training_action_preprocessor_version": 2, |
| "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1", |
| "training_action_replay_success": true, |
| "training_action_total_physics_steps": 14441, |
| "training_actions_executed": 152, |
| "validate_synchronized_training_replay": true, |
| "wrist_camera_preset": "centered_fovy90" |
| } |
|
|
