ctr / scan_object /validation /episode2.json
Shiki42's picture
Upload scan_object centered_fovy90
a27e428 verified
Raw History Blame Contribute Delete
27.3 kB
{
"artifacts_complete": true,
"camera_validation": {
"episode": 2,
"fovy_deg": {
"left": 90.0,
"right": 90.0
},
"frames": 181,
"head_unique_frame_ratio": 0.9558011049723757,
"main_camera_policy": "native_dynamic",
"maximum_mount_distance_error_m": 4.1209341689052437e-08,
"maximum_wrist_consecutive_dark_frames": 0,
"maximum_wrist_dark_frame_fraction": 0.0,
"minimum_wrist_median_luminance": 191.77449652777779,
"parallel_head_unique_frame_ratio": 0.9659090909090909,
"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": 198.00662326388888,
"right": 191.77449652777779
}
},
"collision_safe": true,
"collision_summary": {
"contact_step_indices": [],
"first_risk_step": null,
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.18491445780119795,
"moves": {
"object_place": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.28880266558908685
},
"scanner_align": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.18491445780119795
},
"scanner_grasp+object_grasp": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.20906720293597936
},
"scanner_lift+object_lift": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.23728018692441735
}
},
"physics_steps_checked": 2429
},
"episode": 2,
"frames": 181,
"plan_success": true,
"renderer_validation": {
"camera_shader": "rt",
"episode": 2,
"ray_tracing_denoiser": "optix",
"status": "passed"
},
"replay_success": true,
"seed": 9,
"source_commits": {
"parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
"robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
"robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
},
"task_specific_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
0.03075820952653885,
-0.019231410697102547,
0.9496596455574036
],
"scanner_functional_point": [
-0.01990153031057311,
-0.01919855756541594,
0.9508272840635451,
0.6600196234925183,
-0.25356406914461416,
0.6603360505109641,
-0.25305268194429575
]
},
"task_success": true,
"timing_summary": {
"active_left_frames": 105,
"active_right_frames": 119,
"active_union_frames": 153,
"avoidable_idle_seconds": 2.968,
"frames": 181,
"overlap_frames": 71,
"overlap_ratio_active": 0.46405228758169936,
"overlap_ratio_all": 0.39226519337016574,
"overlap_seconds": 2.3666666666666667,
"seconds": 6.033333333333333,
"true_dependency_wait_seconds": 0.0
},
"training_action_collision_safe": true,
"training_action_count": 180,
"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": 523,
"physics_steps": 113,
"start_physics_step": 410
},
{
"action_index": 7,
"end_physics_step": 646,
"physics_steps": 123,
"start_physics_step": 523
},
{
"action_index": 8,
"end_physics_step": 777,
"physics_steps": 131,
"start_physics_step": 646
},
{
"action_index": 9,
"end_physics_step": 914,
"physics_steps": 137,
"start_physics_step": 777
},
{
"action_index": 10,
"end_physics_step": 1057,
"physics_steps": 143,
"start_physics_step": 914
},
{
"action_index": 11,
"end_physics_step": 1212,
"physics_steps": 155,
"start_physics_step": 1057
},
{
"action_index": 12,
"end_physics_step": 1367,
"physics_steps": 155,
"start_physics_step": 1212
},
{
"action_index": 13,
"end_physics_step": 1529,
"physics_steps": 162,
"start_physics_step": 1367
},
{
"action_index": 14,
"end_physics_step": 1686,
"physics_steps": 157,
"start_physics_step": 1529
},
{
"action_index": 15,
"end_physics_step": 1844,
"physics_steps": 158,
"start_physics_step": 1686
},
{
"action_index": 16,
"end_physics_step": 2003,
"physics_steps": 159,
"start_physics_step": 1844
},
{
"action_index": 17,
"end_physics_step": 2162,
"physics_steps": 159,
"start_physics_step": 2003
},
{
"action_index": 18,
"end_physics_step": 2320,
"physics_steps": 158,
"start_physics_step": 2162
},
{
"action_index": 19,
"end_physics_step": 2477,
"physics_steps": 157,
"start_physics_step": 2320
},
{
"action_index": 20,
"end_physics_step": 2631,
"physics_steps": 154,
"start_physics_step": 2477
},
{
"action_index": 21,
"end_physics_step": 2782,
"physics_steps": 151,
"start_physics_step": 2631
},
{
"action_index": 22,
"end_physics_step": 2929,
"physics_steps": 147,
"start_physics_step": 2782
},
{
"action_index": 23,
"end_physics_step": 3071,
"physics_steps": 142,
"start_physics_step": 2929
},
{
"action_index": 24,
"end_physics_step": 3206,
"physics_steps": 135,
"start_physics_step": 3071
},
{
"action_index": 25,
"end_physics_step": 3334,
"physics_steps": 128,
"start_physics_step": 3206
},
{
"action_index": 26,
"end_physics_step": 3453,
"physics_steps": 119,
"start_physics_step": 3334
},
{
"action_index": 27,
"end_physics_step": 3561,
"physics_steps": 108,
"start_physics_step": 3453
},
{
"action_index": 28,
"end_physics_step": 3657,
"physics_steps": 96,
"start_physics_step": 3561
},
{
"action_index": 29,
"end_physics_step": 3738,
"physics_steps": 81,
"start_physics_step": 3657
},
{
"action_index": 30,
"end_physics_step": 3800,
"physics_steps": 62,
"start_physics_step": 3738
},
{
"action_index": 31,
"end_physics_step": 3836,
"physics_steps": 36,
"start_physics_step": 3800
},
{
"action_index": 32,
"end_physics_step": 3886,
"physics_steps": 50,
"start_physics_step": 3836
},
{
"action_index": 33,
"end_physics_step": 3936,
"physics_steps": 50,
"start_physics_step": 3886
},
{
"action_index": 34,
"end_physics_step": 3986,
"physics_steps": 50,
"start_physics_step": 3936
},
{
"action_index": 35,
"end_physics_step": 4022,
"physics_steps": 36,
"start_physics_step": 3986
},
{
"action_index": 36,
"end_physics_step": 4050,
"physics_steps": 28,
"start_physics_step": 4022
},
{
"action_index": 37,
"end_physics_step": 4108,
"physics_steps": 58,
"start_physics_step": 4050
},
{
"action_index": 38,
"end_physics_step": 4184,
"physics_steps": 76,
"start_physics_step": 4108
},
{
"action_index": 39,
"end_physics_step": 4276,
"physics_steps": 92,
"start_physics_step": 4184
},
{
"action_index": 40,
"end_physics_step": 4379,
"physics_steps": 103,
"start_physics_step": 4276
},
{
"action_index": 41,
"end_physics_step": 4487,
"physics_steps": 108,
"start_physics_step": 4379
},
{
"action_index": 42,
"end_physics_step": 4594,
"physics_steps": 107,
"start_physics_step": 4487
},
{
"action_index": 43,
"end_physics_step": 4691,
"physics_steps": 97,
"start_physics_step": 4594
},
{
"action_index": 44,
"end_physics_step": 4774,
"physics_steps": 83,
"start_physics_step": 4691
},
{
"action_index": 45,
"end_physics_step": 4838,
"physics_steps": 64,
"start_physics_step": 4774
},
{
"action_index": 46,
"end_physics_step": 4877,
"physics_steps": 39,
"start_physics_step": 4838
},
{
"action_index": 47,
"end_physics_step": 4927,
"physics_steps": 50,
"start_physics_step": 4877
},
{
"action_index": 48,
"end_physics_step": 4977,
"physics_steps": 50,
"start_physics_step": 4927
},
{
"action_index": 49,
"end_physics_step": 5027,
"physics_steps": 50,
"start_physics_step": 4977
},
{
"action_index": 50,
"end_physics_step": 5077,
"physics_steps": 50,
"start_physics_step": 5027
},
{
"action_index": 51,
"end_physics_step": 5127,
"physics_steps": 50,
"start_physics_step": 5077
},
{
"action_index": 52,
"end_physics_step": 5177,
"physics_steps": 50,
"start_physics_step": 5127
},
{
"action_index": 53,
"end_physics_step": 5227,
"physics_steps": 50,
"start_physics_step": 5177
},
{
"action_index": 54,
"end_physics_step": 5277,
"physics_steps": 50,
"start_physics_step": 5227
},
{
"action_index": 55,
"end_physics_step": 5327,
"physics_steps": 50,
"start_physics_step": 5277
},
{
"action_index": 56,
"end_physics_step": 5377,
"physics_steps": 50,
"start_physics_step": 5327
},
{
"action_index": 57,
"end_physics_step": 5427,
"physics_steps": 50,
"start_physics_step": 5377
},
{
"action_index": 58,
"end_physics_step": 5477,
"physics_steps": 50,
"start_physics_step": 5427
},
{
"action_index": 59,
"end_physics_step": 5527,
"physics_steps": 50,
"start_physics_step": 5477
},
{
"action_index": 60,
"end_physics_step": 5577,
"physics_steps": 50,
"start_physics_step": 5527
},
{
"action_index": 61,
"end_physics_step": 5627,
"physics_steps": 50,
"start_physics_step": 5577
},
{
"action_index": 62,
"end_physics_step": 5677,
"physics_steps": 50,
"start_physics_step": 5627
},
{
"action_index": 63,
"end_physics_step": 5727,
"physics_steps": 50,
"start_physics_step": 5677
},
{
"action_index": 64,
"end_physics_step": 5777,
"physics_steps": 50,
"start_physics_step": 5727
},
{
"action_index": 65,
"end_physics_step": 5827,
"physics_steps": 50,
"start_physics_step": 5777
},
{
"action_index": 66,
"end_physics_step": 5877,
"physics_steps": 50,
"start_physics_step": 5827
},
{
"action_index": 67,
"end_physics_step": 5927,
"physics_steps": 50,
"start_physics_step": 5877
},
{
"action_index": 68,
"end_physics_step": 5977,
"physics_steps": 50,
"start_physics_step": 5927
},
{
"action_index": 69,
"end_physics_step": 6027,
"physics_steps": 50,
"start_physics_step": 5977
},
{
"action_index": 70,
"end_physics_step": 6077,
"physics_steps": 50,
"start_physics_step": 6027
},
{
"action_index": 71,
"end_physics_step": 6100,
"physics_steps": 23,
"start_physics_step": 6077
},
{
"action_index": 72,
"end_physics_step": 6126,
"physics_steps": 26,
"start_physics_step": 6100
},
{
"action_index": 73,
"end_physics_step": 6183,
"physics_steps": 57,
"start_physics_step": 6126
},
{
"action_index": 74,
"end_physics_step": 6260,
"physics_steps": 77,
"start_physics_step": 6183
},
{
"action_index": 75,
"end_physics_step": 6352,
"physics_steps": 92,
"start_physics_step": 6260
},
{
"action_index": 76,
"end_physics_step": 6458,
"physics_steps": 106,
"start_physics_step": 6352
},
{
"action_index": 77,
"end_physics_step": 6575,
"physics_steps": 117,
"start_physics_step": 6458
},
{
"action_index": 78,
"end_physics_step": 6699,
"physics_steps": 124,
"start_physics_step": 6575
},
{
"action_index": 79,
"end_physics_step": 6824,
"physics_steps": 125,
"start_physics_step": 6699
},
{
"action_index": 80,
"end_physics_step": 6943,
"physics_steps": 119,
"start_physics_step": 6824
},
{
"action_index": 81,
"end_physics_step": 7050,
"physics_steps": 107,
"start_physics_step": 6943
},
{
"action_index": 82,
"end_physics_step": 7144,
"physics_steps": 94,
"start_physics_step": 7050
},
{
"action_index": 83,
"end_physics_step": 7223,
"physics_steps": 79,
"start_physics_step": 7144
},
{
"action_index": 84,
"end_physics_step": 7283,
"physics_steps": 60,
"start_physics_step": 7223
},
{
"action_index": 85,
"end_physics_step": 7314,
"physics_steps": 31,
"start_physics_step": 7283
},
{
"action_index": 86,
"end_physics_step": 7364,
"physics_steps": 50,
"start_physics_step": 7314
},
{
"action_index": 87,
"end_physics_step": 7414,
"physics_steps": 50,
"start_physics_step": 7364
},
{
"action_index": 88,
"end_physics_step": 7464,
"physics_steps": 50,
"start_physics_step": 7414
},
{
"action_index": 89,
"end_physics_step": 7514,
"physics_steps": 50,
"start_physics_step": 7464
},
{
"action_index": 90,
"end_physics_step": 7564,
"physics_steps": 50,
"start_physics_step": 7514
},
{
"action_index": 91,
"end_physics_step": 7626,
"physics_steps": 62,
"start_physics_step": 7564
},
{
"action_index": 92,
"end_physics_step": 7711,
"physics_steps": 85,
"start_physics_step": 7626
},
{
"action_index": 93,
"end_physics_step": 7810,
"physics_steps": 99,
"start_physics_step": 7711
},
{
"action_index": 94,
"end_physics_step": 7918,
"physics_steps": 108,
"start_physics_step": 7810
},
{
"action_index": 95,
"end_physics_step": 8039,
"physics_steps": 121,
"start_physics_step": 7918
},
{
"action_index": 96,
"end_physics_step": 8169,
"physics_steps": 130,
"start_physics_step": 8039
},
{
"action_index": 97,
"end_physics_step": 8304,
"physics_steps": 135,
"start_physics_step": 8169
},
{
"action_index": 98,
"end_physics_step": 8445,
"physics_steps": 141,
"start_physics_step": 8304
},
{
"action_index": 99,
"end_physics_step": 8591,
"physics_steps": 146,
"start_physics_step": 8445
},
{
"action_index": 100,
"end_physics_step": 8739,
"physics_steps": 148,
"start_physics_step": 8591
},
{
"action_index": 101,
"end_physics_step": 8889,
"physics_steps": 150,
"start_physics_step": 8739
},
{
"action_index": 102,
"end_physics_step": 9042,
"physics_steps": 153,
"start_physics_step": 8889
},
{
"action_index": 103,
"end_physics_step": 9196,
"physics_steps": 154,
"start_physics_step": 9042
},
{
"action_index": 104,
"end_physics_step": 9351,
"physics_steps": 155,
"start_physics_step": 9196
},
{
"action_index": 105,
"end_physics_step": 9507,
"physics_steps": 156,
"start_physics_step": 9351
},
{
"action_index": 106,
"end_physics_step": 9663,
"physics_steps": 156,
"start_physics_step": 9507
},
{
"action_index": 107,
"end_physics_step": 9819,
"physics_steps": 156,
"start_physics_step": 9663
},
{
"action_index": 108,
"end_physics_step": 9974,
"physics_steps": 155,
"start_physics_step": 9819
},
{
"action_index": 109,
"end_physics_step": 10127,
"physics_steps": 153,
"start_physics_step": 9974
},
{
"action_index": 110,
"end_physics_step": 10279,
"physics_steps": 152,
"start_physics_step": 10127
},
{
"action_index": 111,
"end_physics_step": 10428,
"physics_steps": 149,
"start_physics_step": 10279
},
{
"action_index": 112,
"end_physics_step": 10574,
"physics_steps": 146,
"start_physics_step": 10428
},
{
"action_index": 113,
"end_physics_step": 10717,
"physics_steps": 143,
"start_physics_step": 10574
},
{
"action_index": 114,
"end_physics_step": 10856,
"physics_steps": 139,
"start_physics_step": 10717
},
{
"action_index": 115,
"end_physics_step": 10990,
"physics_steps": 134,
"start_physics_step": 10856
},
{
"action_index": 116,
"end_physics_step": 11121,
"physics_steps": 131,
"start_physics_step": 10990
},
{
"action_index": 117,
"end_physics_step": 11247,
"physics_steps": 126,
"start_physics_step": 11121
},
{
"action_index": 118,
"end_physics_step": 11367,
"physics_steps": 120,
"start_physics_step": 11247
},
{
"action_index": 119,
"end_physics_step": 11483,
"physics_steps": 116,
"start_physics_step": 11367
},
{
"action_index": 120,
"end_physics_step": 11594,
"physics_steps": 111,
"start_physics_step": 11483
},
{
"action_index": 121,
"end_physics_step": 11697,
"physics_steps": 103,
"start_physics_step": 11594
},
{
"action_index": 122,
"end_physics_step": 11795,
"physics_steps": 98,
"start_physics_step": 11697
},
{
"action_index": 123,
"end_physics_step": 11888,
"physics_steps": 93,
"start_physics_step": 11795
},
{
"action_index": 124,
"end_physics_step": 11973,
"physics_steps": 85,
"start_physics_step": 11888
},
{
"action_index": 125,
"end_physics_step": 12051,
"physics_steps": 78,
"start_physics_step": 11973
},
{
"action_index": 126,
"end_physics_step": 12123,
"physics_steps": 72,
"start_physics_step": 12051
},
{
"action_index": 127,
"end_physics_step": 12185,
"physics_steps": 62,
"start_physics_step": 12123
},
{
"action_index": 128,
"end_physics_step": 12238,
"physics_steps": 53,
"start_physics_step": 12185
},
{
"action_index": 129,
"end_physics_step": 12288,
"physics_steps": 50,
"start_physics_step": 12238
},
{
"action_index": 130,
"end_physics_step": 12338,
"physics_steps": 50,
"start_physics_step": 12288
},
{
"action_index": 131,
"end_physics_step": 12388,
"physics_steps": 50,
"start_physics_step": 12338
},
{
"action_index": 132,
"end_physics_step": 12438,
"physics_steps": 50,
"start_physics_step": 12388
},
{
"action_index": 133,
"end_physics_step": 12488,
"physics_steps": 50,
"start_physics_step": 12438
},
{
"action_index": 134,
"end_physics_step": 12538,
"physics_steps": 50,
"start_physics_step": 12488
},
{
"action_index": 135,
"end_physics_step": 12588,
"physics_steps": 50,
"start_physics_step": 12538
},
{
"action_index": 136,
"end_physics_step": 12638,
"physics_steps": 50,
"start_physics_step": 12588
},
{
"action_index": 137,
"end_physics_step": 12688,
"physics_steps": 50,
"start_physics_step": 12638
},
{
"action_index": 138,
"end_physics_step": 12738,
"physics_steps": 50,
"start_physics_step": 12688
},
{
"action_index": 139,
"end_physics_step": 12788,
"physics_steps": 50,
"start_physics_step": 12738
},
{
"action_index": 140,
"end_physics_step": 12838,
"physics_steps": 50,
"start_physics_step": 12788
},
{
"action_index": 141,
"end_physics_step": 12888,
"physics_steps": 50,
"start_physics_step": 12838
},
{
"action_index": 142,
"end_physics_step": 12938,
"physics_steps": 50,
"start_physics_step": 12888
},
{
"action_index": 143,
"end_physics_step": 12988,
"physics_steps": 50,
"start_physics_step": 12938
},
{
"action_index": 144,
"end_physics_step": 13038,
"physics_steps": 50,
"start_physics_step": 12988
},
{
"action_index": 145,
"end_physics_step": 13088,
"physics_steps": 50,
"start_physics_step": 13038
},
{
"action_index": 146,
"end_physics_step": 13158,
"physics_steps": 70,
"start_physics_step": 13088
},
{
"action_index": 147,
"end_physics_step": 13244,
"physics_steps": 86,
"start_physics_step": 13158
},
{
"action_index": 148,
"end_physics_step": 13343,
"physics_steps": 99,
"start_physics_step": 13244
},
{
"action_index": 149,
"end_physics_step": 13453,
"physics_steps": 110,
"start_physics_step": 13343
},
{
"action_index": 150,
"end_physics_step": 13571,
"physics_steps": 118,
"start_physics_step": 13453
},
{
"action_index": 151,
"end_physics_step": 13697,
"physics_steps": 126,
"start_physics_step": 13571
},
{
"action_index": 152,
"end_physics_step": 13831,
"physics_steps": 134,
"start_physics_step": 13697
},
{
"action_index": 153,
"end_physics_step": 13973,
"physics_steps": 142,
"start_physics_step": 13831
},
{
"action_index": 154,
"end_physics_step": 14122,
"physics_steps": 149,
"start_physics_step": 13973
},
{
"action_index": 155,
"end_physics_step": 14276,
"physics_steps": 154,
"start_physics_step": 14122
},
{
"action_index": 156,
"end_physics_step": 14434,
"physics_steps": 158,
"start_physics_step": 14276
},
{
"action_index": 157,
"end_physics_step": 14593,
"physics_steps": 159,
"start_physics_step": 14434
},
{
"action_index": 158,
"end_physics_step": 14754,
"physics_steps": 161,
"start_physics_step": 14593
},
{
"action_index": 159,
"end_physics_step": 14915,
"physics_steps": 161,
"start_physics_step": 14754
},
{
"action_index": 160,
"end_physics_step": 15074,
"physics_steps": 159,
"start_physics_step": 14915
},
{
"action_index": 161,
"end_physics_step": 15229,
"physics_steps": 155,
"start_physics_step": 15074
},
{
"action_index": 162,
"end_physics_step": 15377,
"physics_steps": 148,
"start_physics_step": 15229
},
{
"action_index": 163,
"end_physics_step": 15517,
"physics_steps": 140,
"start_physics_step": 15377
},
{
"action_index": 164,
"end_physics_step": 15648,
"physics_steps": 131,
"start_physics_step": 15517
},
{
"action_index": 165,
"end_physics_step": 15769,
"physics_steps": 121,
"start_physics_step": 15648
},
{
"action_index": 166,
"end_physics_step": 15879,
"physics_steps": 110,
"start_physics_step": 15769
},
{
"action_index": 167,
"end_physics_step": 15915,
"physics_steps": 36,
"start_physics_step": 15879
}
],
"training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
"training_action_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
0.03025098517537117,
-0.020358312875032425,
0.9499220848083496
],
"scanner_functional_point": [
-0.02575530621461304,
-0.0017020117555206563,
0.9410502087419333,
0.6758691006753105,
-0.28636454152282664,
0.6464358690470825,
-0.20812730556106945
]
},
"training_action_input_frames": 181,
"training_action_interarm_contact_steps": 0,
"training_action_minimum_capsule_distance_m": 0.1832320681198121,
"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": 15915,
"training_actions_executed": 168
}