| { |
| "base_config": "parallelvla_clean_pcd", |
| "camera_validation": { |
| "episode": 45, |
| "fovy_deg": { |
| "left": 90.0, |
| "right": 90.0 |
| }, |
| "frames": 171, |
| "head_unique_frame_ratio": 0.9590643274853801, |
| "main_camera_policy": "native_dynamic", |
| "maximum_mount_distance_error_m": 5.1969408512708704e-08, |
| "maximum_wrist_consecutive_dark_frames": 0, |
| "maximum_wrist_dark_frame_fraction": 0.0, |
| "minimum_wrist_median_luminance": 177.4643315972222, |
| "parallel_head_unique_frame_ratio": 0.967032967032967, |
| "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": 212.42180989583332, |
| "right": 177.4643315972222 |
| } |
| }, |
| "collision_summary": { |
| "contact_step_indices": [], |
| "first_risk_step": null, |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.17867868560642716, |
| "moves": { |
| "object_place": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.2986483079882381 |
| }, |
| "scanner_align": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.17867868560642716 |
| }, |
| "scanner_grasp+object_grasp": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.3199654237207309 |
| }, |
| "scanner_lift+object_lift": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.3320732847369382 |
| } |
| }, |
| "physics_steps_checked": 2293 |
| }, |
| "episode_index": 45, |
| "motion_cross_check": { |
| "object_place": { |
| "active_union_frames": 44, |
| "first_motion_frame": [ |
| 92, |
| null |
| ], |
| "frames": 49, |
| "left_motion_frames": 44, |
| "overlap_frames": 0, |
| "overlap_ratio_active": 0.0, |
| "overlap_ratio_all": 0.0, |
| "right_motion_frames": 0 |
| }, |
| "scanner_align": { |
| "active_union_frames": 28, |
| "first_motion_frame": [ |
| null, |
| 141 |
| ], |
| "frames": 31, |
| "left_motion_frames": 0, |
| "overlap_frames": 0, |
| "overlap_ratio_active": 0.0, |
| "overlap_ratio_all": 0.0, |
| "right_motion_frames": 28 |
| }, |
| "scanner_grasp+object_grasp": { |
| "active_union_frames": 58, |
| "first_motion_frame": [ |
| 3, |
| 3 |
| ], |
| "frames": 73, |
| "left_motion_frames": 58, |
| "overlap_frames": 58, |
| "overlap_ratio_active": 1.0, |
| "overlap_ratio_all": 0.7945205479452054, |
| "right_motion_frames": 58 |
| }, |
| "scanner_lift+object_lift": { |
| "active_union_frames": 16, |
| "first_motion_frame": [ |
| 74, |
| 74 |
| ], |
| "frames": 18, |
| "left_motion_frames": 16, |
| "overlap_frames": 16, |
| "overlap_ratio_active": 1.0, |
| "overlap_ratio_all": 0.8888888888888888, |
| "right_motion_frames": 16 |
| } |
| }, |
| "moves": [ |
| { |
| "active_arms": [ |
| "right", |
| "left" |
| ], |
| "avoidable_idle_seconds": 0.0, |
| "end_frame": 73, |
| "end_physics_step": 999, |
| "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": 91, |
| "end_physics_step": 1230, |
| "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": 73, |
| "start_physics_step": 999, |
| "true_dependency_wait_arms": [], |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| { |
| "active_arms": [ |
| "left" |
| ], |
| "avoidable_idle_seconds": 2.684, |
| "end_frame": 140, |
| "end_physics_step": 1901, |
| "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": 91, |
| "start_physics_step": 1230, |
| "true_dependency_wait_arms": [], |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| { |
| "active_arms": [ |
| "right" |
| ], |
| "avoidable_idle_seconds": 0.0, |
| "end_frame": 171, |
| "end_physics_step": 2293, |
| "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": 140, |
| "start_physics_step": 1901, |
| "true_dependency_wait_arms": [], |
| "true_dependency_wait_seconds": 0.0 |
| } |
| ], |
| "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", |
| "renderer_validation": { |
| "camera_shader": "rt", |
| "episode": 45, |
| "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": 171, |
| "scene_identity": { |
| "left_object_target_pose": [ |
| -0.03, |
| -0.02, |
| 0.95, |
| 0.707, |
| 0, |
| -0.707, |
| 0 |
| ], |
| "object_id": 3, |
| "object_pose": [ |
| -0.24295605719089508, |
| -0.003503879765048623, |
| 0.7406741380691528, |
| 0.22531215846538544, |
| 0.22525174915790558, |
| 0.6702635884284973, |
| 0.6702559590339661 |
| ], |
| "right_object_target_pose": [ |
| 0.03, |
| -0.02, |
| 0.95, |
| 0.707, |
| 0, |
| 0.707, |
| 0 |
| ], |
| "scanner_id": 1, |
| "scanner_pose": [ |
| 0.19823184609413147, |
| -0.14852802455425262, |
| 0.7389696836471558, |
| -0.2473715990781784, |
| -0.2598085105419159, |
| 0.6760567426681519, |
| 0.6436259746551514 |
| ] |
| }, |
| "schedule_mode": "dependency_aware_overlap", |
| "schedule_plan": null, |
| "schedule_search": null, |
| "schedule_strategy": "beam_dp", |
| "schema_version": 5, |
| "seed": 187, |
| "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": [ |
| -0.030892249196767807, |
| -0.01960401050746441, |
| 0.9502462148666382 |
| ], |
| "scanner_functional_point": [ |
| 0.011483991691556276, |
| -0.008785651128076992, |
| 0.970276800085493, |
| 0.16409920780814902, |
| 0.6890520218516795, |
| -0.15887362243407233, |
| -0.6877775318179031 |
| ] |
| }, |
| "timing_summary": { |
| "active_left_frames": 118, |
| "active_right_frames": 102, |
| "active_union_frames": 146, |
| "avoidable_idle_seconds": 2.684, |
| "frames": 171, |
| "overlap_frames": 74, |
| "overlap_ratio_active": 0.5068493150684932, |
| "overlap_ratio_all": 0.4327485380116959, |
| "overlap_seconds": 2.466666666666667, |
| "seconds": 5.7, |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| "training_action_collision_safe": true, |
| "training_action_count": 170, |
| "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": 149, |
| "physics_steps": 49, |
| "start_physics_step": 100 |
| }, |
| { |
| "action_index": 3, |
| "end_physics_step": 220, |
| "physics_steps": 71, |
| "start_physics_step": 149 |
| }, |
| { |
| "action_index": 4, |
| "end_physics_step": 308, |
| "physics_steps": 88, |
| "start_physics_step": 220 |
| }, |
| { |
| "action_index": 5, |
| "end_physics_step": 410, |
| "physics_steps": 102, |
| "start_physics_step": 308 |
| }, |
| { |
| "action_index": 6, |
| "end_physics_step": 524, |
| "physics_steps": 114, |
| "start_physics_step": 410 |
| }, |
| { |
| "action_index": 7, |
| "end_physics_step": 649, |
| "physics_steps": 125, |
| "start_physics_step": 524 |
| }, |
| { |
| "action_index": 8, |
| "end_physics_step": 783, |
| "physics_steps": 134, |
| "start_physics_step": 649 |
| }, |
| { |
| "action_index": 9, |
| "end_physics_step": 925, |
| "physics_steps": 142, |
| "start_physics_step": 783 |
| }, |
| { |
| "action_index": 10, |
| "end_physics_step": 1073, |
| "physics_steps": 148, |
| "start_physics_step": 925 |
| }, |
| { |
| "action_index": 11, |
| "end_physics_step": 1227, |
| "physics_steps": 154, |
| "start_physics_step": 1073 |
| }, |
| { |
| "action_index": 12, |
| "end_physics_step": 1385, |
| "physics_steps": 158, |
| "start_physics_step": 1227 |
| }, |
| { |
| "action_index": 13, |
| "end_physics_step": 1546, |
| "physics_steps": 161, |
| "start_physics_step": 1385 |
| }, |
| { |
| "action_index": 14, |
| "end_physics_step": 1710, |
| "physics_steps": 164, |
| "start_physics_step": 1546 |
| }, |
| { |
| "action_index": 15, |
| "end_physics_step": 1875, |
| "physics_steps": 165, |
| "start_physics_step": 1710 |
| }, |
| { |
| "action_index": 16, |
| "end_physics_step": 2041, |
| "physics_steps": 166, |
| "start_physics_step": 1875 |
| }, |
| { |
| "action_index": 17, |
| "end_physics_step": 2207, |
| "physics_steps": 166, |
| "start_physics_step": 2041 |
| }, |
| { |
| "action_index": 18, |
| "end_physics_step": 2372, |
| "physics_steps": 165, |
| "start_physics_step": 2207 |
| }, |
| { |
| "action_index": 19, |
| "end_physics_step": 2535, |
| "physics_steps": 163, |
| "start_physics_step": 2372 |
| }, |
| { |
| "action_index": 20, |
| "end_physics_step": 2695, |
| "physics_steps": 160, |
| "start_physics_step": 2535 |
| }, |
| { |
| "action_index": 21, |
| "end_physics_step": 2851, |
| "physics_steps": 156, |
| "start_physics_step": 2695 |
| }, |
| { |
| "action_index": 22, |
| "end_physics_step": 3002, |
| "physics_steps": 151, |
| "start_physics_step": 2851 |
| }, |
| { |
| "action_index": 23, |
| "end_physics_step": 3148, |
| "physics_steps": 146, |
| "start_physics_step": 3002 |
| }, |
| { |
| "action_index": 24, |
| "end_physics_step": 3287, |
| "physics_steps": 139, |
| "start_physics_step": 3148 |
| }, |
| { |
| "action_index": 25, |
| "end_physics_step": 3417, |
| "physics_steps": 130, |
| "start_physics_step": 3287 |
| }, |
| { |
| "action_index": 26, |
| "end_physics_step": 3538, |
| "physics_steps": 121, |
| "start_physics_step": 3417 |
| }, |
| { |
| "action_index": 27, |
| "end_physics_step": 3648, |
| "physics_steps": 110, |
| "start_physics_step": 3538 |
| }, |
| { |
| "action_index": 28, |
| "end_physics_step": 3745, |
| "physics_steps": 97, |
| "start_physics_step": 3648 |
| }, |
| { |
| "action_index": 29, |
| "end_physics_step": 3827, |
| "physics_steps": 82, |
| "start_physics_step": 3745 |
| }, |
| { |
| "action_index": 30, |
| "end_physics_step": 3891, |
| "physics_steps": 64, |
| "start_physics_step": 3827 |
| }, |
| { |
| "action_index": 31, |
| "end_physics_step": 3931, |
| "physics_steps": 40, |
| "start_physics_step": 3891 |
| }, |
| { |
| "action_index": 32, |
| "end_physics_step": 3981, |
| "physics_steps": 50, |
| "start_physics_step": 3931 |
| }, |
| { |
| "action_index": 33, |
| "end_physics_step": 4031, |
| "physics_steps": 50, |
| "start_physics_step": 3981 |
| }, |
| { |
| "action_index": 34, |
| "end_physics_step": 4081, |
| "physics_steps": 50, |
| "start_physics_step": 4031 |
| }, |
| { |
| "action_index": 35, |
| "end_physics_step": 4123, |
| "physics_steps": 42, |
| "start_physics_step": 4081 |
| }, |
| { |
| "action_index": 36, |
| "end_physics_step": 4150, |
| "physics_steps": 27, |
| "start_physics_step": 4123 |
| }, |
| { |
| "action_index": 37, |
| "end_physics_step": 4207, |
| "physics_steps": 57, |
| "start_physics_step": 4150 |
| }, |
| { |
| "action_index": 38, |
| "end_physics_step": 4280, |
| "physics_steps": 73, |
| "start_physics_step": 4207 |
| }, |
| { |
| "action_index": 39, |
| "end_physics_step": 4364, |
| "physics_steps": 84, |
| "start_physics_step": 4280 |
| }, |
| { |
| "action_index": 40, |
| "end_physics_step": 4455, |
| "physics_steps": 91, |
| "start_physics_step": 4364 |
| }, |
| { |
| "action_index": 41, |
| "end_physics_step": 4551, |
| "physics_steps": 96, |
| "start_physics_step": 4455 |
| }, |
| { |
| "action_index": 42, |
| "end_physics_step": 4649, |
| "physics_steps": 98, |
| "start_physics_step": 4551 |
| }, |
| { |
| "action_index": 43, |
| "end_physics_step": 4746, |
| "physics_steps": 97, |
| "start_physics_step": 4649 |
| }, |
| { |
| "action_index": 44, |
| "end_physics_step": 4840, |
| "physics_steps": 94, |
| "start_physics_step": 4746 |
| }, |
| { |
| "action_index": 45, |
| "end_physics_step": 4928, |
| "physics_steps": 88, |
| "start_physics_step": 4840 |
| }, |
| { |
| "action_index": 46, |
| "end_physics_step": 5007, |
| "physics_steps": 79, |
| "start_physics_step": 4928 |
| }, |
| { |
| "action_index": 47, |
| "end_physics_step": 5071, |
| "physics_steps": 64, |
| "start_physics_step": 5007 |
| }, |
| { |
| "action_index": 48, |
| "end_physics_step": 5113, |
| "physics_steps": 42, |
| "start_physics_step": 5071 |
| }, |
| { |
| "action_index": 49, |
| "end_physics_step": 5163, |
| "physics_steps": 50, |
| "start_physics_step": 5113 |
| }, |
| { |
| "action_index": 50, |
| "end_physics_step": 5213, |
| "physics_steps": 50, |
| "start_physics_step": 5163 |
| }, |
| { |
| "action_index": 51, |
| "end_physics_step": 5263, |
| "physics_steps": 50, |
| "start_physics_step": 5213 |
| }, |
| { |
| "action_index": 52, |
| "end_physics_step": 5313, |
| "physics_steps": 50, |
| "start_physics_step": 5263 |
| }, |
| { |
| "action_index": 53, |
| "end_physics_step": 5363, |
| "physics_steps": 50, |
| "start_physics_step": 5313 |
| }, |
| { |
| "action_index": 54, |
| "end_physics_step": 5413, |
| "physics_steps": 50, |
| "start_physics_step": 5363 |
| }, |
| { |
| "action_index": 55, |
| "end_physics_step": 5463, |
| "physics_steps": 50, |
| "start_physics_step": 5413 |
| }, |
| { |
| "action_index": 56, |
| "end_physics_step": 5513, |
| "physics_steps": 50, |
| "start_physics_step": 5463 |
| }, |
| { |
| "action_index": 57, |
| "end_physics_step": 5563, |
| "physics_steps": 50, |
| "start_physics_step": 5513 |
| }, |
| { |
| "action_index": 58, |
| "end_physics_step": 5613, |
| "physics_steps": 50, |
| "start_physics_step": 5563 |
| }, |
| { |
| "action_index": 59, |
| "end_physics_step": 5663, |
| "physics_steps": 50, |
| "start_physics_step": 5613 |
| }, |
| { |
| "action_index": 60, |
| "end_physics_step": 5713, |
| "physics_steps": 50, |
| "start_physics_step": 5663 |
| }, |
| { |
| "action_index": 61, |
| "end_physics_step": 5763, |
| "physics_steps": 50, |
| "start_physics_step": 5713 |
| }, |
| { |
| "action_index": 62, |
| "end_physics_step": 5813, |
| "physics_steps": 50, |
| "start_physics_step": 5763 |
| }, |
| { |
| "action_index": 63, |
| "end_physics_step": 5863, |
| "physics_steps": 50, |
| "start_physics_step": 5813 |
| }, |
| { |
| "action_index": 64, |
| "end_physics_step": 5913, |
| "physics_steps": 50, |
| "start_physics_step": 5863 |
| }, |
| { |
| "action_index": 65, |
| "end_physics_step": 5963, |
| "physics_steps": 50, |
| "start_physics_step": 5913 |
| }, |
| { |
| "action_index": 66, |
| "end_physics_step": 6013, |
| "physics_steps": 50, |
| "start_physics_step": 5963 |
| }, |
| { |
| "action_index": 67, |
| "end_physics_step": 6063, |
| "physics_steps": 50, |
| "start_physics_step": 6013 |
| }, |
| { |
| "action_index": 68, |
| "end_physics_step": 6113, |
| "physics_steps": 50, |
| "start_physics_step": 6063 |
| }, |
| { |
| "action_index": 69, |
| "end_physics_step": 6163, |
| "physics_steps": 50, |
| "start_physics_step": 6113 |
| }, |
| { |
| "action_index": 70, |
| "end_physics_step": 6213, |
| "physics_steps": 50, |
| "start_physics_step": 6163 |
| }, |
| { |
| "action_index": 71, |
| "end_physics_step": 6263, |
| "physics_steps": 50, |
| "start_physics_step": 6213 |
| }, |
| { |
| "action_index": 72, |
| "end_physics_step": 6313, |
| "physics_steps": 50, |
| "start_physics_step": 6263 |
| }, |
| { |
| "action_index": 73, |
| "end_physics_step": 6333, |
| "physics_steps": 20, |
| "start_physics_step": 6313 |
| }, |
| { |
| "action_index": 74, |
| "end_physics_step": 6357, |
| "physics_steps": 24, |
| "start_physics_step": 6333 |
| }, |
| { |
| "action_index": 75, |
| "end_physics_step": 6413, |
| "physics_steps": 56, |
| "start_physics_step": 6357 |
| }, |
| { |
| "action_index": 76, |
| "end_physics_step": 6489, |
| "physics_steps": 76, |
| "start_physics_step": 6413 |
| }, |
| { |
| "action_index": 77, |
| "end_physics_step": 6581, |
| "physics_steps": 92, |
| "start_physics_step": 6489 |
| }, |
| { |
| "action_index": 78, |
| "end_physics_step": 6686, |
| "physics_steps": 105, |
| "start_physics_step": 6581 |
| }, |
| { |
| "action_index": 79, |
| "end_physics_step": 6801, |
| "physics_steps": 115, |
| "start_physics_step": 6686 |
| }, |
| { |
| "action_index": 80, |
| "end_physics_step": 6922, |
| "physics_steps": 121, |
| "start_physics_step": 6801 |
| }, |
| { |
| "action_index": 81, |
| "end_physics_step": 7045, |
| "physics_steps": 123, |
| "start_physics_step": 6922 |
| }, |
| { |
| "action_index": 82, |
| "end_physics_step": 7166, |
| "physics_steps": 121, |
| "start_physics_step": 7045 |
| }, |
| { |
| "action_index": 83, |
| "end_physics_step": 7281, |
| "physics_steps": 115, |
| "start_physics_step": 7166 |
| }, |
| { |
| "action_index": 84, |
| "end_physics_step": 7385, |
| "physics_steps": 104, |
| "start_physics_step": 7281 |
| }, |
| { |
| "action_index": 85, |
| "end_physics_step": 7476, |
| "physics_steps": 91, |
| "start_physics_step": 7385 |
| }, |
| { |
| "action_index": 86, |
| "end_physics_step": 7551, |
| "physics_steps": 75, |
| "start_physics_step": 7476 |
| }, |
| { |
| "action_index": 87, |
| "end_physics_step": 7605, |
| "physics_steps": 54, |
| "start_physics_step": 7551 |
| }, |
| { |
| "action_index": 88, |
| "end_physics_step": 7627, |
| "physics_steps": 22, |
| "start_physics_step": 7605 |
| }, |
| { |
| "action_index": 89, |
| "end_physics_step": 7677, |
| "physics_steps": 50, |
| "start_physics_step": 7627 |
| }, |
| { |
| "action_index": 90, |
| "end_physics_step": 7727, |
| "physics_steps": 50, |
| "start_physics_step": 7677 |
| }, |
| { |
| "action_index": 91, |
| "end_physics_step": 7777, |
| "physics_steps": 50, |
| "start_physics_step": 7727 |
| }, |
| { |
| "action_index": 92, |
| "end_physics_step": 7827, |
| "physics_steps": 50, |
| "start_physics_step": 7777 |
| }, |
| { |
| "action_index": 93, |
| "end_physics_step": 7877, |
| "physics_steps": 50, |
| "start_physics_step": 7827 |
| }, |
| { |
| "action_index": 94, |
| "end_physics_step": 7945, |
| "physics_steps": 68, |
| "start_physics_step": 7877 |
| }, |
| { |
| "action_index": 95, |
| "end_physics_step": 8029, |
| "physics_steps": 84, |
| "start_physics_step": 7945 |
| }, |
| { |
| "action_index": 96, |
| "end_physics_step": 8129, |
| "physics_steps": 100, |
| "start_physics_step": 8029 |
| }, |
| { |
| "action_index": 97, |
| "end_physics_step": 8243, |
| "physics_steps": 114, |
| "start_physics_step": 8129 |
| }, |
| { |
| "action_index": 98, |
| "end_physics_step": 8367, |
| "physics_steps": 124, |
| "start_physics_step": 8243 |
| }, |
| { |
| "action_index": 99, |
| "end_physics_step": 8500, |
| "physics_steps": 133, |
| "start_physics_step": 8367 |
| }, |
| { |
| "action_index": 100, |
| "end_physics_step": 8642, |
| "physics_steps": 142, |
| "start_physics_step": 8500 |
| }, |
| { |
| "action_index": 101, |
| "end_physics_step": 8795, |
| "physics_steps": 153, |
| "start_physics_step": 8642 |
| }, |
| { |
| "action_index": 102, |
| "end_physics_step": 8954, |
| "physics_steps": 159, |
| "start_physics_step": 8795 |
| }, |
| { |
| "action_index": 103, |
| "end_physics_step": 9119, |
| "physics_steps": 165, |
| "start_physics_step": 8954 |
| }, |
| { |
| "action_index": 104, |
| "end_physics_step": 9288, |
| "physics_steps": 169, |
| "start_physics_step": 9119 |
| }, |
| { |
| "action_index": 105, |
| "end_physics_step": 9460, |
| "physics_steps": 172, |
| "start_physics_step": 9288 |
| }, |
| { |
| "action_index": 106, |
| "end_physics_step": 9632, |
| "physics_steps": 172, |
| "start_physics_step": 9460 |
| }, |
| { |
| "action_index": 107, |
| "end_physics_step": 9803, |
| "physics_steps": 171, |
| "start_physics_step": 9632 |
| }, |
| { |
| "action_index": 108, |
| "end_physics_step": 9972, |
| "physics_steps": 169, |
| "start_physics_step": 9803 |
| }, |
| { |
| "action_index": 109, |
| "end_physics_step": 10138, |
| "physics_steps": 166, |
| "start_physics_step": 9972 |
| }, |
| { |
| "action_index": 110, |
| "end_physics_step": 10297, |
| "physics_steps": 159, |
| "start_physics_step": 10138 |
| }, |
| { |
| "action_index": 111, |
| "end_physics_step": 10450, |
| "physics_steps": 153, |
| "start_physics_step": 10297 |
| }, |
| { |
| "action_index": 112, |
| "end_physics_step": 10596, |
| "physics_steps": 146, |
| "start_physics_step": 10450 |
| }, |
| { |
| "action_index": 113, |
| "end_physics_step": 10736, |
| "physics_steps": 140, |
| "start_physics_step": 10596 |
| }, |
| { |
| "action_index": 114, |
| "end_physics_step": 10869, |
| "physics_steps": 133, |
| "start_physics_step": 10736 |
| }, |
| { |
| "action_index": 115, |
| "end_physics_step": 10997, |
| "physics_steps": 128, |
| "start_physics_step": 10869 |
| }, |
| { |
| "action_index": 116, |
| "end_physics_step": 11121, |
| "physics_steps": 124, |
| "start_physics_step": 10997 |
| }, |
| { |
| "action_index": 117, |
| "end_physics_step": 11241, |
| "physics_steps": 120, |
| "start_physics_step": 11121 |
| }, |
| { |
| "action_index": 118, |
| "end_physics_step": 11358, |
| "physics_steps": 117, |
| "start_physics_step": 11241 |
| }, |
| { |
| "action_index": 119, |
| "end_physics_step": 11470, |
| "physics_steps": 112, |
| "start_physics_step": 11358 |
| }, |
| { |
| "action_index": 120, |
| "end_physics_step": 11576, |
| "physics_steps": 106, |
| "start_physics_step": 11470 |
| }, |
| { |
| "action_index": 121, |
| "end_physics_step": 11675, |
| "physics_steps": 99, |
| "start_physics_step": 11576 |
| }, |
| { |
| "action_index": 122, |
| "end_physics_step": 11766, |
| "physics_steps": 91, |
| "start_physics_step": 11675 |
| }, |
| { |
| "action_index": 123, |
| "end_physics_step": 11846, |
| "physics_steps": 80, |
| "start_physics_step": 11766 |
| }, |
| { |
| "action_index": 124, |
| "end_physics_step": 11914, |
| "physics_steps": 68, |
| "start_physics_step": 11846 |
| }, |
| { |
| "action_index": 125, |
| "end_physics_step": 11975, |
| "physics_steps": 61, |
| "start_physics_step": 11914 |
| }, |
| { |
| "action_index": 126, |
| "end_physics_step": 12030, |
| "physics_steps": 55, |
| "start_physics_step": 11975 |
| }, |
| { |
| "action_index": 127, |
| "end_physics_step": 12080, |
| "physics_steps": 50, |
| "start_physics_step": 12030 |
| }, |
| { |
| "action_index": 128, |
| "end_physics_step": 12130, |
| "physics_steps": 50, |
| "start_physics_step": 12080 |
| }, |
| { |
| "action_index": 129, |
| "end_physics_step": 12180, |
| "physics_steps": 50, |
| "start_physics_step": 12130 |
| }, |
| { |
| "action_index": 130, |
| "end_physics_step": 12230, |
| "physics_steps": 50, |
| "start_physics_step": 12180 |
| }, |
| { |
| "action_index": 131, |
| "end_physics_step": 12280, |
| "physics_steps": 50, |
| "start_physics_step": 12230 |
| }, |
| { |
| "action_index": 132, |
| "end_physics_step": 12330, |
| "physics_steps": 50, |
| "start_physics_step": 12280 |
| }, |
| { |
| "action_index": 133, |
| "end_physics_step": 12380, |
| "physics_steps": 50, |
| "start_physics_step": 12330 |
| }, |
| { |
| "action_index": 134, |
| "end_physics_step": 12430, |
| "physics_steps": 50, |
| "start_physics_step": 12380 |
| }, |
| { |
| "action_index": 135, |
| "end_physics_step": 12480, |
| "physics_steps": 50, |
| "start_physics_step": 12430 |
| }, |
| { |
| "action_index": 136, |
| "end_physics_step": 12530, |
| "physics_steps": 50, |
| "start_physics_step": 12480 |
| }, |
| { |
| "action_index": 137, |
| "end_physics_step": 12580, |
| "physics_steps": 50, |
| "start_physics_step": 12530 |
| }, |
| { |
| "action_index": 138, |
| "end_physics_step": 12630, |
| "physics_steps": 50, |
| "start_physics_step": 12580 |
| }, |
| { |
| "action_index": 139, |
| "end_physics_step": 12680, |
| "physics_steps": 50, |
| "start_physics_step": 12630 |
| }, |
| { |
| "action_index": 140, |
| "end_physics_step": 12730, |
| "physics_steps": 50, |
| "start_physics_step": 12680 |
| }, |
| { |
| "action_index": 141, |
| "end_physics_step": 12780, |
| "physics_steps": 50, |
| "start_physics_step": 12730 |
| }, |
| { |
| "action_index": 142, |
| "end_physics_step": 12833, |
| "physics_steps": 53, |
| "start_physics_step": 12780 |
| }, |
| { |
| "action_index": 143, |
| "end_physics_step": 12907, |
| "physics_steps": 74, |
| "start_physics_step": 12833 |
| }, |
| { |
| "action_index": 144, |
| "end_physics_step": 12998, |
| "physics_steps": 91, |
| "start_physics_step": 12907 |
| }, |
| { |
| "action_index": 145, |
| "end_physics_step": 13101, |
| "physics_steps": 103, |
| "start_physics_step": 12998 |
| }, |
| { |
| "action_index": 146, |
| "end_physics_step": 13217, |
| "physics_steps": 116, |
| "start_physics_step": 13101 |
| }, |
| { |
| "action_index": 147, |
| "end_physics_step": 13344, |
| "physics_steps": 127, |
| "start_physics_step": 13217 |
| }, |
| { |
| "action_index": 148, |
| "end_physics_step": 13479, |
| "physics_steps": 135, |
| "start_physics_step": 13344 |
| }, |
| { |
| "action_index": 149, |
| "end_physics_step": 13621, |
| "physics_steps": 142, |
| "start_physics_step": 13479 |
| }, |
| { |
| "action_index": 150, |
| "end_physics_step": 13767, |
| "physics_steps": 146, |
| "start_physics_step": 13621 |
| }, |
| { |
| "action_index": 151, |
| "end_physics_step": 13915, |
| "physics_steps": 148, |
| "start_physics_step": 13767 |
| }, |
| { |
| "action_index": 152, |
| "end_physics_step": 14063, |
| "physics_steps": 148, |
| "start_physics_step": 13915 |
| }, |
| { |
| "action_index": 153, |
| "end_physics_step": 14209, |
| "physics_steps": 146, |
| "start_physics_step": 14063 |
| }, |
| { |
| "action_index": 154, |
| "end_physics_step": 14350, |
| "physics_steps": 141, |
| "start_physics_step": 14209 |
| }, |
| { |
| "action_index": 155, |
| "end_physics_step": 14437, |
| "physics_steps": 87, |
| "start_physics_step": 14350 |
| } |
| ], |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", |
| "training_action_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| -0.0289272703230381, |
| -0.02155643329024315, |
| 0.9508904218673706 |
| ], |
| "scanner_functional_point": [ |
| 0.032988872172993025, |
| -0.0351136032066454, |
| 0.9415196133753584, |
| 0.14923045132015342, |
| 0.764727069490963, |
| -0.22501165213103647, |
| -0.5850577219316129 |
| ] |
| }, |
| "training_action_input_frames": 171, |
| "training_action_interarm_contact_steps": 0, |
| "training_action_minimum_capsule_distance_m": 0.1943888791289037, |
| "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": 14437, |
| "training_actions_executed": 156, |
| "validate_synchronized_training_replay": true, |
| "wrist_camera_preset": "centered_fovy90" |
| } |
|
|
