| { |
| "artifacts_complete": true, |
| "camera_validation": { |
| "episode": 14, |
| "fovy_deg": { |
| "left": 90.0, |
| "right": 90.0 |
| }, |
| "frames": 169, |
| "head_unique_frame_ratio": 0.9526627218934911, |
| "main_camera_policy": "native_dynamic", |
| "maximum_mount_distance_error_m": 4.416990602440496e-08, |
| "maximum_wrist_consecutive_dark_frames": 0, |
| "maximum_wrist_dark_frame_fraction": 0.0, |
| "minimum_wrist_median_luminance": 192.81701388888888, |
| "parallel_head_unique_frame_ratio": 0.9540229885057471, |
| "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": 192.81701388888888, |
| "right": 216.7996701388889 |
| } |
| }, |
| "collision_safe": true, |
| "collision_summary": { |
| "contact_step_indices": [], |
| "first_risk_step": null, |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1789419613816223, |
| "moves": { |
| "object_place": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.37722137681225476 |
| }, |
| "scanner_align": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1789419613816223 |
| }, |
| "scanner_grasp+object_grasp": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.31872257376941643 |
| }, |
| "scanner_lift+object_lift": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.33879697928857117 |
| } |
| }, |
| "physics_steps_checked": 2261 |
| }, |
| "episode": 14, |
| "frames": 169, |
| "plan_success": true, |
| "renderer_validation": { |
| "camera_shader": "rt", |
| "episode": 14, |
| "ray_tracing_denoiser": "optix", |
| "status": "passed" |
| }, |
| "replay_success": true, |
| "seed": 71, |
| "source_commits": { |
| "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", |
| "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" |
| }, |
| "task_specific_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| 0.030799783766269684, |
| -0.019354939460754395, |
| 0.9494606256484985 |
| ], |
| "scanner_functional_point": [ |
| -0.019478564038910233, |
| -0.02043554838934348, |
| 0.9538075978993622, |
| 0.672643868215075, |
| -0.21767918760184335, |
| 0.6726988680886964, |
| -0.21827100290659054 |
| ] |
| }, |
| "task_success": true, |
| "timing_summary": { |
| "active_left_frames": 104, |
| "active_right_frames": 112, |
| "active_union_frames": 145, |
| "avoidable_idle_seconds": 2.48, |
| "frames": 169, |
| "overlap_frames": 71, |
| "overlap_ratio_active": 0.4896551724137931, |
| "overlap_ratio_all": 0.42011834319526625, |
| "overlap_seconds": 2.3666666666666667, |
| "seconds": 5.633333333333334, |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| "training_action_collision_safe": true, |
| "training_action_count": 168, |
| "training_action_execution_intervals": [ |
| { |
| "action_index": 0, |
| "end_physics_step": 50, |
| "physics_steps": 50, |
| "start_physics_step": 0 |
| }, |
| { |
| "action_index": 1, |
| "end_physics_step": 62, |
| "physics_steps": 12, |
| "start_physics_step": 50 |
| }, |
| { |
| "action_index": 2, |
| "end_physics_step": 113, |
| "physics_steps": 51, |
| "start_physics_step": 62 |
| }, |
| { |
| "action_index": 3, |
| "end_physics_step": 185, |
| "physics_steps": 72, |
| "start_physics_step": 113 |
| }, |
| { |
| "action_index": 4, |
| "end_physics_step": 274, |
| "physics_steps": 89, |
| "start_physics_step": 185 |
| }, |
| { |
| "action_index": 5, |
| "end_physics_step": 377, |
| "physics_steps": 103, |
| "start_physics_step": 274 |
| }, |
| { |
| "action_index": 6, |
| "end_physics_step": 492, |
| "physics_steps": 115, |
| "start_physics_step": 377 |
| }, |
| { |
| "action_index": 7, |
| "end_physics_step": 618, |
| "physics_steps": 126, |
| "start_physics_step": 492 |
| }, |
| { |
| "action_index": 8, |
| "end_physics_step": 753, |
| "physics_steps": 135, |
| "start_physics_step": 618 |
| }, |
| { |
| "action_index": 9, |
| "end_physics_step": 896, |
| "physics_steps": 143, |
| "start_physics_step": 753 |
| }, |
| { |
| "action_index": 10, |
| "end_physics_step": 1045, |
| "physics_steps": 149, |
| "start_physics_step": 896 |
| }, |
| { |
| "action_index": 11, |
| "end_physics_step": 1199, |
| "physics_steps": 154, |
| "start_physics_step": 1045 |
| }, |
| { |
| "action_index": 12, |
| "end_physics_step": 1357, |
| "physics_steps": 158, |
| "start_physics_step": 1199 |
| }, |
| { |
| "action_index": 13, |
| "end_physics_step": 1517, |
| "physics_steps": 160, |
| "start_physics_step": 1357 |
| }, |
| { |
| "action_index": 14, |
| "end_physics_step": 1678, |
| "physics_steps": 161, |
| "start_physics_step": 1517 |
| }, |
| { |
| "action_index": 15, |
| "end_physics_step": 1839, |
| "physics_steps": 161, |
| "start_physics_step": 1678 |
| }, |
| { |
| "action_index": 16, |
| "end_physics_step": 1999, |
| "physics_steps": 160, |
| "start_physics_step": 1839 |
| }, |
| { |
| "action_index": 17, |
| "end_physics_step": 2157, |
| "physics_steps": 158, |
| "start_physics_step": 1999 |
| }, |
| { |
| "action_index": 18, |
| "end_physics_step": 2311, |
| "physics_steps": 154, |
| "start_physics_step": 2157 |
| }, |
| { |
| "action_index": 19, |
| "end_physics_step": 2461, |
| "physics_steps": 150, |
| "start_physics_step": 2311 |
| }, |
| { |
| "action_index": 20, |
| "end_physics_step": 2605, |
| "physics_steps": 144, |
| "start_physics_step": 2461 |
| }, |
| { |
| "action_index": 21, |
| "end_physics_step": 2741, |
| "physics_steps": 136, |
| "start_physics_step": 2605 |
| }, |
| { |
| "action_index": 22, |
| "end_physics_step": 2868, |
| "physics_steps": 127, |
| "start_physics_step": 2741 |
| }, |
| { |
| "action_index": 23, |
| "end_physics_step": 2984, |
| "physics_steps": 116, |
| "start_physics_step": 2868 |
| }, |
| { |
| "action_index": 24, |
| "end_physics_step": 3088, |
| "physics_steps": 104, |
| "start_physics_step": 2984 |
| }, |
| { |
| "action_index": 25, |
| "end_physics_step": 3179, |
| "physics_steps": 91, |
| "start_physics_step": 3088 |
| }, |
| { |
| "action_index": 26, |
| "end_physics_step": 3254, |
| "physics_steps": 75, |
| "start_physics_step": 3179 |
| }, |
| { |
| "action_index": 27, |
| "end_physics_step": 3308, |
| "physics_steps": 54, |
| "start_physics_step": 3254 |
| }, |
| { |
| "action_index": 28, |
| "end_physics_step": 3329, |
| "physics_steps": 21, |
| "start_physics_step": 3308 |
| }, |
| { |
| "action_index": 29, |
| "end_physics_step": 3379, |
| "physics_steps": 50, |
| "start_physics_step": 3329 |
| }, |
| { |
| "action_index": 30, |
| "end_physics_step": 3429, |
| "physics_steps": 50, |
| "start_physics_step": 3379 |
| }, |
| { |
| "action_index": 31, |
| "end_physics_step": 3479, |
| "physics_steps": 50, |
| "start_physics_step": 3429 |
| }, |
| { |
| "action_index": 32, |
| "end_physics_step": 3514, |
| "physics_steps": 35, |
| "start_physics_step": 3479 |
| }, |
| { |
| "action_index": 33, |
| "end_physics_step": 3542, |
| "physics_steps": 28, |
| "start_physics_step": 3514 |
| }, |
| { |
| "action_index": 34, |
| "end_physics_step": 3599, |
| "physics_steps": 57, |
| "start_physics_step": 3542 |
| }, |
| { |
| "action_index": 35, |
| "end_physics_step": 3676, |
| "physics_steps": 77, |
| "start_physics_step": 3599 |
| }, |
| { |
| "action_index": 36, |
| "end_physics_step": 3766, |
| "physics_steps": 90, |
| "start_physics_step": 3676 |
| }, |
| { |
| "action_index": 37, |
| "end_physics_step": 3866, |
| "physics_steps": 100, |
| "start_physics_step": 3766 |
| }, |
| { |
| "action_index": 38, |
| "end_physics_step": 3970, |
| "physics_steps": 104, |
| "start_physics_step": 3866 |
| }, |
| { |
| "action_index": 39, |
| "end_physics_step": 4078, |
| "physics_steps": 108, |
| "start_physics_step": 3970 |
| }, |
| { |
| "action_index": 40, |
| "end_physics_step": 4184, |
| "physics_steps": 106, |
| "start_physics_step": 4078 |
| }, |
| { |
| "action_index": 41, |
| "end_physics_step": 4280, |
| "physics_steps": 96, |
| "start_physics_step": 4184 |
| }, |
| { |
| "action_index": 42, |
| "end_physics_step": 4361, |
| "physics_steps": 81, |
| "start_physics_step": 4280 |
| }, |
| { |
| "action_index": 43, |
| "end_physics_step": 4425, |
| "physics_steps": 64, |
| "start_physics_step": 4361 |
| }, |
| { |
| "action_index": 44, |
| "end_physics_step": 4462, |
| "physics_steps": 37, |
| "start_physics_step": 4425 |
| }, |
| { |
| "action_index": 45, |
| "end_physics_step": 4512, |
| "physics_steps": 50, |
| "start_physics_step": 4462 |
| }, |
| { |
| "action_index": 46, |
| "end_physics_step": 4562, |
| "physics_steps": 50, |
| "start_physics_step": 4512 |
| }, |
| { |
| "action_index": 47, |
| "end_physics_step": 4612, |
| "physics_steps": 50, |
| "start_physics_step": 4562 |
| }, |
| { |
| "action_index": 48, |
| "end_physics_step": 4662, |
| "physics_steps": 50, |
| "start_physics_step": 4612 |
| }, |
| { |
| "action_index": 49, |
| "end_physics_step": 4712, |
| "physics_steps": 50, |
| "start_physics_step": 4662 |
| }, |
| { |
| "action_index": 50, |
| "end_physics_step": 4762, |
| "physics_steps": 50, |
| "start_physics_step": 4712 |
| }, |
| { |
| "action_index": 51, |
| "end_physics_step": 4812, |
| "physics_steps": 50, |
| "start_physics_step": 4762 |
| }, |
| { |
| "action_index": 52, |
| "end_physics_step": 4862, |
| "physics_steps": 50, |
| "start_physics_step": 4812 |
| }, |
| { |
| "action_index": 53, |
| "end_physics_step": 4912, |
| "physics_steps": 50, |
| "start_physics_step": 4862 |
| }, |
| { |
| "action_index": 54, |
| "end_physics_step": 4962, |
| "physics_steps": 50, |
| "start_physics_step": 4912 |
| }, |
| { |
| "action_index": 55, |
| "end_physics_step": 5012, |
| "physics_steps": 50, |
| "start_physics_step": 4962 |
| }, |
| { |
| "action_index": 56, |
| "end_physics_step": 5062, |
| "physics_steps": 50, |
| "start_physics_step": 5012 |
| }, |
| { |
| "action_index": 57, |
| "end_physics_step": 5112, |
| "physics_steps": 50, |
| "start_physics_step": 5062 |
| }, |
| { |
| "action_index": 58, |
| "end_physics_step": 5162, |
| "physics_steps": 50, |
| "start_physics_step": 5112 |
| }, |
| { |
| "action_index": 59, |
| "end_physics_step": 5212, |
| "physics_steps": 50, |
| "start_physics_step": 5162 |
| }, |
| { |
| "action_index": 60, |
| "end_physics_step": 5262, |
| "physics_steps": 50, |
| "start_physics_step": 5212 |
| }, |
| { |
| "action_index": 61, |
| "end_physics_step": 5312, |
| "physics_steps": 50, |
| "start_physics_step": 5262 |
| }, |
| { |
| "action_index": 62, |
| "end_physics_step": 5362, |
| "physics_steps": 50, |
| "start_physics_step": 5312 |
| }, |
| { |
| "action_index": 63, |
| "end_physics_step": 5412, |
| "physics_steps": 50, |
| "start_physics_step": 5362 |
| }, |
| { |
| "action_index": 64, |
| "end_physics_step": 5462, |
| "physics_steps": 50, |
| "start_physics_step": 5412 |
| }, |
| { |
| "action_index": 65, |
| "end_physics_step": 5512, |
| "physics_steps": 50, |
| "start_physics_step": 5462 |
| }, |
| { |
| "action_index": 66, |
| "end_physics_step": 5562, |
| "physics_steps": 50, |
| "start_physics_step": 5512 |
| }, |
| { |
| "action_index": 67, |
| "end_physics_step": 5612, |
| "physics_steps": 50, |
| "start_physics_step": 5562 |
| }, |
| { |
| "action_index": 68, |
| "end_physics_step": 5662, |
| "physics_steps": 50, |
| "start_physics_step": 5612 |
| }, |
| { |
| "action_index": 69, |
| "end_physics_step": 5683, |
| "physics_steps": 21, |
| "start_physics_step": 5662 |
| }, |
| { |
| "action_index": 70, |
| "end_physics_step": 5708, |
| "physics_steps": 25, |
| "start_physics_step": 5683 |
| }, |
| { |
| "action_index": 71, |
| "end_physics_step": 5764, |
| "physics_steps": 56, |
| "start_physics_step": 5708 |
| }, |
| { |
| "action_index": 72, |
| "end_physics_step": 5840, |
| "physics_steps": 76, |
| "start_physics_step": 5764 |
| }, |
| { |
| "action_index": 73, |
| "end_physics_step": 5932, |
| "physics_steps": 92, |
| "start_physics_step": 5840 |
| }, |
| { |
| "action_index": 74, |
| "end_physics_step": 6037, |
| "physics_steps": 105, |
| "start_physics_step": 5932 |
| }, |
| { |
| "action_index": 75, |
| "end_physics_step": 6152, |
| "physics_steps": 115, |
| "start_physics_step": 6037 |
| }, |
| { |
| "action_index": 76, |
| "end_physics_step": 6273, |
| "physics_steps": 121, |
| "start_physics_step": 6152 |
| }, |
| { |
| "action_index": 77, |
| "end_physics_step": 6397, |
| "physics_steps": 124, |
| "start_physics_step": 6273 |
| }, |
| { |
| "action_index": 78, |
| "end_physics_step": 6519, |
| "physics_steps": 122, |
| "start_physics_step": 6397 |
| }, |
| { |
| "action_index": 79, |
| "end_physics_step": 6636, |
| "physics_steps": 117, |
| "start_physics_step": 6519 |
| }, |
| { |
| "action_index": 80, |
| "end_physics_step": 6743, |
| "physics_steps": 107, |
| "start_physics_step": 6636 |
| }, |
| { |
| "action_index": 81, |
| "end_physics_step": 6837, |
| "physics_steps": 94, |
| "start_physics_step": 6743 |
| }, |
| { |
| "action_index": 82, |
| "end_physics_step": 6916, |
| "physics_steps": 79, |
| "start_physics_step": 6837 |
| }, |
| { |
| "action_index": 83, |
| "end_physics_step": 6976, |
| "physics_steps": 60, |
| "start_physics_step": 6916 |
| }, |
| { |
| "action_index": 84, |
| "end_physics_step": 7008, |
| "physics_steps": 32, |
| "start_physics_step": 6976 |
| }, |
| { |
| "action_index": 85, |
| "end_physics_step": 7058, |
| "physics_steps": 50, |
| "start_physics_step": 7008 |
| }, |
| { |
| "action_index": 86, |
| "end_physics_step": 7108, |
| "physics_steps": 50, |
| "start_physics_step": 7058 |
| }, |
| { |
| "action_index": 87, |
| "end_physics_step": 7158, |
| "physics_steps": 50, |
| "start_physics_step": 7108 |
| }, |
| { |
| "action_index": 88, |
| "end_physics_step": 7208, |
| "physics_steps": 50, |
| "start_physics_step": 7158 |
| }, |
| { |
| "action_index": 89, |
| "end_physics_step": 7258, |
| "physics_steps": 50, |
| "start_physics_step": 7208 |
| }, |
| { |
| "action_index": 90, |
| "end_physics_step": 7328, |
| "physics_steps": 70, |
| "start_physics_step": 7258 |
| }, |
| { |
| "action_index": 91, |
| "end_physics_step": 7414, |
| "physics_steps": 86, |
| "start_physics_step": 7328 |
| }, |
| { |
| "action_index": 92, |
| "end_physics_step": 7514, |
| "physics_steps": 100, |
| "start_physics_step": 7414 |
| }, |
| { |
| "action_index": 93, |
| "end_physics_step": 7626, |
| "physics_steps": 112, |
| "start_physics_step": 7514 |
| }, |
| { |
| "action_index": 94, |
| "end_physics_step": 7750, |
| "physics_steps": 124, |
| "start_physics_step": 7626 |
| }, |
| { |
| "action_index": 95, |
| "end_physics_step": 7884, |
| "physics_steps": 134, |
| "start_physics_step": 7750 |
| }, |
| { |
| "action_index": 96, |
| "end_physics_step": 8027, |
| "physics_steps": 143, |
| "start_physics_step": 7884 |
| }, |
| { |
| "action_index": 97, |
| "end_physics_step": 8177, |
| "physics_steps": 150, |
| "start_physics_step": 8027 |
| }, |
| { |
| "action_index": 98, |
| "end_physics_step": 8333, |
| "physics_steps": 156, |
| "start_physics_step": 8177 |
| }, |
| { |
| "action_index": 99, |
| "end_physics_step": 8494, |
| "physics_steps": 161, |
| "start_physics_step": 8333 |
| }, |
| { |
| "action_index": 100, |
| "end_physics_step": 8659, |
| "physics_steps": 165, |
| "start_physics_step": 8494 |
| }, |
| { |
| "action_index": 101, |
| "end_physics_step": 8827, |
| "physics_steps": 168, |
| "start_physics_step": 8659 |
| }, |
| { |
| "action_index": 102, |
| "end_physics_step": 8996, |
| "physics_steps": 169, |
| "start_physics_step": 8827 |
| }, |
| { |
| "action_index": 103, |
| "end_physics_step": 9164, |
| "physics_steps": 168, |
| "start_physics_step": 8996 |
| }, |
| { |
| "action_index": 104, |
| "end_physics_step": 9330, |
| "physics_steps": 166, |
| "start_physics_step": 9164 |
| }, |
| { |
| "action_index": 105, |
| "end_physics_step": 9493, |
| "physics_steps": 163, |
| "start_physics_step": 9330 |
| }, |
| { |
| "action_index": 106, |
| "end_physics_step": 9652, |
| "physics_steps": 159, |
| "start_physics_step": 9493 |
| }, |
| { |
| "action_index": 107, |
| "end_physics_step": 9807, |
| "physics_steps": 155, |
| "start_physics_step": 9652 |
| }, |
| { |
| "action_index": 108, |
| "end_physics_step": 9957, |
| "physics_steps": 150, |
| "start_physics_step": 9807 |
| }, |
| { |
| "action_index": 109, |
| "end_physics_step": 10103, |
| "physics_steps": 146, |
| "start_physics_step": 9957 |
| }, |
| { |
| "action_index": 110, |
| "end_physics_step": 10245, |
| "physics_steps": 142, |
| "start_physics_step": 10103 |
| }, |
| { |
| "action_index": 111, |
| "end_physics_step": 10383, |
| "physics_steps": 138, |
| "start_physics_step": 10245 |
| }, |
| { |
| "action_index": 112, |
| "end_physics_step": 10518, |
| "physics_steps": 135, |
| "start_physics_step": 10383 |
| }, |
| { |
| "action_index": 113, |
| "end_physics_step": 10650, |
| "physics_steps": 132, |
| "start_physics_step": 10518 |
| }, |
| { |
| "action_index": 114, |
| "end_physics_step": 10777, |
| "physics_steps": 127, |
| "start_physics_step": 10650 |
| }, |
| { |
| "action_index": 115, |
| "end_physics_step": 10899, |
| "physics_steps": 122, |
| "start_physics_step": 10777 |
| }, |
| { |
| "action_index": 116, |
| "end_physics_step": 11014, |
| "physics_steps": 115, |
| "start_physics_step": 10899 |
| }, |
| { |
| "action_index": 117, |
| "end_physics_step": 11121, |
| "physics_steps": 107, |
| "start_physics_step": 11014 |
| }, |
| { |
| "action_index": 118, |
| "end_physics_step": 11217, |
| "physics_steps": 96, |
| "start_physics_step": 11121 |
| }, |
| { |
| "action_index": 119, |
| "end_physics_step": 11302, |
| "physics_steps": 85, |
| "start_physics_step": 11217 |
| }, |
| { |
| "action_index": 120, |
| "end_physics_step": 11371, |
| "physics_steps": 69, |
| "start_physics_step": 11302 |
| }, |
| { |
| "action_index": 121, |
| "end_physics_step": 11421, |
| "physics_steps": 50, |
| "start_physics_step": 11371 |
| }, |
| { |
| "action_index": 122, |
| "end_physics_step": 11471, |
| "physics_steps": 50, |
| "start_physics_step": 11421 |
| }, |
| { |
| "action_index": 123, |
| "end_physics_step": 11521, |
| "physics_steps": 50, |
| "start_physics_step": 11471 |
| }, |
| { |
| "action_index": 124, |
| "end_physics_step": 11571, |
| "physics_steps": 50, |
| "start_physics_step": 11521 |
| }, |
| { |
| "action_index": 125, |
| "end_physics_step": 11621, |
| "physics_steps": 50, |
| "start_physics_step": 11571 |
| }, |
| { |
| "action_index": 126, |
| "end_physics_step": 11671, |
| "physics_steps": 50, |
| "start_physics_step": 11621 |
| }, |
| { |
| "action_index": 127, |
| "end_physics_step": 11721, |
| "physics_steps": 50, |
| "start_physics_step": 11671 |
| }, |
| { |
| "action_index": 128, |
| "end_physics_step": 11771, |
| "physics_steps": 50, |
| "start_physics_step": 11721 |
| }, |
| { |
| "action_index": 129, |
| "end_physics_step": 11821, |
| "physics_steps": 50, |
| "start_physics_step": 11771 |
| }, |
| { |
| "action_index": 130, |
| "end_physics_step": 11871, |
| "physics_steps": 50, |
| "start_physics_step": 11821 |
| }, |
| { |
| "action_index": 131, |
| "end_physics_step": 11921, |
| "physics_steps": 50, |
| "start_physics_step": 11871 |
| }, |
| { |
| "action_index": 132, |
| "end_physics_step": 11971, |
| "physics_steps": 50, |
| "start_physics_step": 11921 |
| }, |
| { |
| "action_index": 133, |
| "end_physics_step": 12021, |
| "physics_steps": 50, |
| "start_physics_step": 11971 |
| }, |
| { |
| "action_index": 134, |
| "end_physics_step": 12071, |
| "physics_steps": 50, |
| "start_physics_step": 12021 |
| }, |
| { |
| "action_index": 135, |
| "end_physics_step": 12122, |
| "physics_steps": 51, |
| "start_physics_step": 12071 |
| }, |
| { |
| "action_index": 136, |
| "end_physics_step": 12195, |
| "physics_steps": 73, |
| "start_physics_step": 12122 |
| }, |
| { |
| "action_index": 137, |
| "end_physics_step": 12284, |
| "physics_steps": 89, |
| "start_physics_step": 12195 |
| }, |
| { |
| "action_index": 138, |
| "end_physics_step": 12387, |
| "physics_steps": 103, |
| "start_physics_step": 12284 |
| }, |
| { |
| "action_index": 139, |
| "end_physics_step": 12502, |
| "physics_steps": 115, |
| "start_physics_step": 12387 |
| }, |
| { |
| "action_index": 140, |
| "end_physics_step": 12627, |
| "physics_steps": 125, |
| "start_physics_step": 12502 |
| }, |
| { |
| "action_index": 141, |
| "end_physics_step": 12759, |
| "physics_steps": 132, |
| "start_physics_step": 12627 |
| }, |
| { |
| "action_index": 142, |
| "end_physics_step": 12898, |
| "physics_steps": 139, |
| "start_physics_step": 12759 |
| }, |
| { |
| "action_index": 143, |
| "end_physics_step": 13042, |
| "physics_steps": 144, |
| "start_physics_step": 12898 |
| }, |
| { |
| "action_index": 144, |
| "end_physics_step": 13190, |
| "physics_steps": 148, |
| "start_physics_step": 13042 |
| }, |
| { |
| "action_index": 145, |
| "end_physics_step": 13341, |
| "physics_steps": 151, |
| "start_physics_step": 13190 |
| }, |
| { |
| "action_index": 146, |
| "end_physics_step": 13494, |
| "physics_steps": 153, |
| "start_physics_step": 13341 |
| }, |
| { |
| "action_index": 147, |
| "end_physics_step": 13648, |
| "physics_steps": 154, |
| "start_physics_step": 13494 |
| }, |
| { |
| "action_index": 148, |
| "end_physics_step": 13802, |
| "physics_steps": 154, |
| "start_physics_step": 13648 |
| }, |
| { |
| "action_index": 149, |
| "end_physics_step": 13954, |
| "physics_steps": 152, |
| "start_physics_step": 13802 |
| }, |
| { |
| "action_index": 150, |
| "end_physics_step": 14104, |
| "physics_steps": 150, |
| "start_physics_step": 13954 |
| }, |
| { |
| "action_index": 151, |
| "end_physics_step": 14251, |
| "physics_steps": 147, |
| "start_physics_step": 14104 |
| }, |
| { |
| "action_index": 152, |
| "end_physics_step": 14394, |
| "physics_steps": 143, |
| "start_physics_step": 14251 |
| }, |
| { |
| "action_index": 153, |
| "end_physics_step": 14532, |
| "physics_steps": 138, |
| "start_physics_step": 14394 |
| }, |
| { |
| "action_index": 154, |
| "end_physics_step": 14664, |
| "physics_steps": 132, |
| "start_physics_step": 14532 |
| }, |
| { |
| "action_index": 155, |
| "end_physics_step": 14788, |
| "physics_steps": 124, |
| "start_physics_step": 14664 |
| }, |
| { |
| "action_index": 156, |
| "end_physics_step": 14903, |
| "physics_steps": 115, |
| "start_physics_step": 14788 |
| }, |
| { |
| "action_index": 157, |
| "end_physics_step": 14996, |
| "physics_steps": 93, |
| "start_physics_step": 14903 |
| } |
| ], |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", |
| "training_action_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| 0.030274711549282074, |
| -0.019413478672504425, |
| 0.9482538104057312 |
| ], |
| "scanner_functional_point": [ |
| -0.030302462068021185, |
| -0.004130561303533398, |
| 0.9545216774180373, |
| 0.6865040529431503, |
| -0.25318056072393647, |
| 0.6683618953156862, |
| -0.13380644922485924 |
| ] |
| }, |
| "training_action_input_frames": 169, |
| "training_action_interarm_contact_steps": 0, |
| "training_action_minimum_capsule_distance_m": 0.1860987633938678, |
| "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": 14996, |
| "training_actions_executed": 158 |
| } |
|
|
