ctr / scan_object /validation /episode20.json
Shiki42's picture
Upload scan_object centered_fovy90
a27e428 verified
Raw History Blame Contribute Delete
28.1 kB
{
"artifacts_complete": true,
"camera_validation": {
"episode": 20,
"fovy_deg": {
"left": 90.0,
"right": 90.0
},
"frames": 188,
"head_unique_frame_ratio": 0.9627659574468085,
"main_camera_policy": "native_dynamic",
"maximum_mount_distance_error_m": 4.400699013529241e-08,
"maximum_wrist_consecutive_dark_frames": 0,
"maximum_wrist_dark_frame_fraction": 0.0,
"minimum_wrist_median_luminance": 195.14175781249997,
"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": 195.14175781249997,
"right": 200.18093532986111
}
},
"collision_safe": true,
"collision_summary": {
"contact_step_indices": [],
"first_risk_step": null,
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.1711173193325107,
"moves": {
"object_place": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.21222960548464254
},
"scanner_align": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.17966382094526065
},
"scanner_grasp+object_grasp": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.1711173193325107
},
"scanner_lift+object_lift": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.21181743919494256
}
},
"physics_steps_checked": 2541
},
"episode": 20,
"frames": 188,
"plan_success": true,
"renderer_validation": {
"camera_shader": "rt",
"episode": 20,
"ray_tracing_denoiser": "optix",
"status": "passed"
},
"replay_success": true,
"seed": 90,
"source_commits": {
"parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
"robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
"robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
},
"task_specific_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
-0.030666310340166092,
-0.019442765042185783,
0.9507994651794434
],
"scanner_functional_point": [
0.01627447200900988,
-0.023176330640235956,
0.9462373093509986,
0.5198394647887757,
0.4859740710916227,
-0.5042102031764568,
-0.4892526996220968
]
},
"task_success": true,
"timing_summary": {
"active_left_frames": 119,
"active_right_frames": 110,
"active_union_frames": 159,
"avoidable_idle_seconds": 3.028,
"frames": 188,
"overlap_frames": 70,
"overlap_ratio_active": 0.44025157232704404,
"overlap_ratio_all": 0.3723404255319149,
"overlap_seconds": 2.3333333333333335,
"seconds": 6.266666666666667,
"true_dependency_wait_seconds": 0.0
},
"training_action_collision_safe": true,
"training_action_count": 187,
"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": 784,
"physics_steps": 135,
"start_physics_step": 649
},
{
"action_index": 9,
"end_physics_step": 927,
"physics_steps": 143,
"start_physics_step": 784
},
{
"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": 1389,
"physics_steps": 159,
"start_physics_step": 1230
},
{
"action_index": 13,
"end_physics_step": 1551,
"physics_steps": 162,
"start_physics_step": 1389
},
{
"action_index": 14,
"end_physics_step": 1715,
"physics_steps": 164,
"start_physics_step": 1551
},
{
"action_index": 15,
"end_physics_step": 1880,
"physics_steps": 165,
"start_physics_step": 1715
},
{
"action_index": 16,
"end_physics_step": 2045,
"physics_steps": 165,
"start_physics_step": 1880
},
{
"action_index": 17,
"end_physics_step": 2209,
"physics_steps": 164,
"start_physics_step": 2045
},
{
"action_index": 18,
"end_physics_step": 2371,
"physics_steps": 162,
"start_physics_step": 2209
},
{
"action_index": 19,
"end_physics_step": 2531,
"physics_steps": 160,
"start_physics_step": 2371
},
{
"action_index": 20,
"end_physics_step": 2687,
"physics_steps": 156,
"start_physics_step": 2531
},
{
"action_index": 21,
"end_physics_step": 2838,
"physics_steps": 151,
"start_physics_step": 2687
},
{
"action_index": 22,
"end_physics_step": 2984,
"physics_steps": 146,
"start_physics_step": 2838
},
{
"action_index": 23,
"end_physics_step": 3123,
"physics_steps": 139,
"start_physics_step": 2984
},
{
"action_index": 24,
"end_physics_step": 3254,
"physics_steps": 131,
"start_physics_step": 3123
},
{
"action_index": 25,
"end_physics_step": 3376,
"physics_steps": 122,
"start_physics_step": 3254
},
{
"action_index": 26,
"end_physics_step": 3487,
"physics_steps": 111,
"start_physics_step": 3376
},
{
"action_index": 27,
"end_physics_step": 3585,
"physics_steps": 98,
"start_physics_step": 3487
},
{
"action_index": 28,
"end_physics_step": 3668,
"physics_steps": 83,
"start_physics_step": 3585
},
{
"action_index": 29,
"end_physics_step": 3733,
"physics_steps": 65,
"start_physics_step": 3668
},
{
"action_index": 30,
"end_physics_step": 3774,
"physics_steps": 41,
"start_physics_step": 3733
},
{
"action_index": 31,
"end_physics_step": 3824,
"physics_steps": 50,
"start_physics_step": 3774
},
{
"action_index": 32,
"end_physics_step": 3874,
"physics_steps": 50,
"start_physics_step": 3824
},
{
"action_index": 33,
"end_physics_step": 3924,
"physics_steps": 50,
"start_physics_step": 3874
},
{
"action_index": 34,
"end_physics_step": 3961,
"physics_steps": 37,
"start_physics_step": 3924
},
{
"action_index": 35,
"end_physics_step": 3989,
"physics_steps": 28,
"start_physics_step": 3961
},
{
"action_index": 36,
"end_physics_step": 4046,
"physics_steps": 57,
"start_physics_step": 3989
},
{
"action_index": 37,
"end_physics_step": 4122,
"physics_steps": 76,
"start_physics_step": 4046
},
{
"action_index": 38,
"end_physics_step": 4212,
"physics_steps": 90,
"start_physics_step": 4122
},
{
"action_index": 39,
"end_physics_step": 4310,
"physics_steps": 98,
"start_physics_step": 4212
},
{
"action_index": 40,
"end_physics_step": 4413,
"physics_steps": 103,
"start_physics_step": 4310
},
{
"action_index": 41,
"end_physics_step": 4518,
"physics_steps": 105,
"start_physics_step": 4413
},
{
"action_index": 42,
"end_physics_step": 4614,
"physics_steps": 96,
"start_physics_step": 4518
},
{
"action_index": 43,
"end_physics_step": 4697,
"physics_steps": 83,
"start_physics_step": 4614
},
{
"action_index": 44,
"end_physics_step": 4763,
"physics_steps": 66,
"start_physics_step": 4697
},
{
"action_index": 45,
"end_physics_step": 4805,
"physics_steps": 42,
"start_physics_step": 4763
},
{
"action_index": 46,
"end_physics_step": 4855,
"physics_steps": 50,
"start_physics_step": 4805
},
{
"action_index": 47,
"end_physics_step": 4905,
"physics_steps": 50,
"start_physics_step": 4855
},
{
"action_index": 48,
"end_physics_step": 4955,
"physics_steps": 50,
"start_physics_step": 4905
},
{
"action_index": 49,
"end_physics_step": 5005,
"physics_steps": 50,
"start_physics_step": 4955
},
{
"action_index": 50,
"end_physics_step": 5055,
"physics_steps": 50,
"start_physics_step": 5005
},
{
"action_index": 51,
"end_physics_step": 5105,
"physics_steps": 50,
"start_physics_step": 5055
},
{
"action_index": 52,
"end_physics_step": 5155,
"physics_steps": 50,
"start_physics_step": 5105
},
{
"action_index": 53,
"end_physics_step": 5205,
"physics_steps": 50,
"start_physics_step": 5155
},
{
"action_index": 54,
"end_physics_step": 5255,
"physics_steps": 50,
"start_physics_step": 5205
},
{
"action_index": 55,
"end_physics_step": 5305,
"physics_steps": 50,
"start_physics_step": 5255
},
{
"action_index": 56,
"end_physics_step": 5355,
"physics_steps": 50,
"start_physics_step": 5305
},
{
"action_index": 57,
"end_physics_step": 5405,
"physics_steps": 50,
"start_physics_step": 5355
},
{
"action_index": 58,
"end_physics_step": 5455,
"physics_steps": 50,
"start_physics_step": 5405
},
{
"action_index": 59,
"end_physics_step": 5505,
"physics_steps": 50,
"start_physics_step": 5455
},
{
"action_index": 60,
"end_physics_step": 5555,
"physics_steps": 50,
"start_physics_step": 5505
},
{
"action_index": 61,
"end_physics_step": 5605,
"physics_steps": 50,
"start_physics_step": 5555
},
{
"action_index": 62,
"end_physics_step": 5655,
"physics_steps": 50,
"start_physics_step": 5605
},
{
"action_index": 63,
"end_physics_step": 5705,
"physics_steps": 50,
"start_physics_step": 5655
},
{
"action_index": 64,
"end_physics_step": 5755,
"physics_steps": 50,
"start_physics_step": 5705
},
{
"action_index": 65,
"end_physics_step": 5805,
"physics_steps": 50,
"start_physics_step": 5755
},
{
"action_index": 66,
"end_physics_step": 5855,
"physics_steps": 50,
"start_physics_step": 5805
},
{
"action_index": 67,
"end_physics_step": 5905,
"physics_steps": 50,
"start_physics_step": 5855
},
{
"action_index": 68,
"end_physics_step": 5955,
"physics_steps": 50,
"start_physics_step": 5905
},
{
"action_index": 69,
"end_physics_step": 6005,
"physics_steps": 50,
"start_physics_step": 5955
},
{
"action_index": 70,
"end_physics_step": 6025,
"physics_steps": 20,
"start_physics_step": 6005
},
{
"action_index": 71,
"end_physics_step": 6051,
"physics_steps": 26,
"start_physics_step": 6025
},
{
"action_index": 72,
"end_physics_step": 6105,
"physics_steps": 54,
"start_physics_step": 6051
},
{
"action_index": 73,
"end_physics_step": 6179,
"physics_steps": 74,
"start_physics_step": 6105
},
{
"action_index": 74,
"end_physics_step": 6269,
"physics_steps": 90,
"start_physics_step": 6179
},
{
"action_index": 75,
"end_physics_step": 6372,
"physics_steps": 103,
"start_physics_step": 6269
},
{
"action_index": 76,
"end_physics_step": 6482,
"physics_steps": 110,
"start_physics_step": 6372
},
{
"action_index": 77,
"end_physics_step": 6602,
"physics_steps": 120,
"start_physics_step": 6482
},
{
"action_index": 78,
"end_physics_step": 6723,
"physics_steps": 121,
"start_physics_step": 6602
},
{
"action_index": 79,
"end_physics_step": 6841,
"physics_steps": 118,
"start_physics_step": 6723
},
{
"action_index": 80,
"end_physics_step": 6950,
"physics_steps": 109,
"start_physics_step": 6841
},
{
"action_index": 81,
"end_physics_step": 7047,
"physics_steps": 97,
"start_physics_step": 6950
},
{
"action_index": 82,
"end_physics_step": 7130,
"physics_steps": 83,
"start_physics_step": 7047
},
{
"action_index": 83,
"end_physics_step": 7195,
"physics_steps": 65,
"start_physics_step": 7130
},
{
"action_index": 84,
"end_physics_step": 7235,
"physics_steps": 40,
"start_physics_step": 7195
},
{
"action_index": 85,
"end_physics_step": 7285,
"physics_steps": 50,
"start_physics_step": 7235
},
{
"action_index": 86,
"end_physics_step": 7335,
"physics_steps": 50,
"start_physics_step": 7285
},
{
"action_index": 87,
"end_physics_step": 7385,
"physics_steps": 50,
"start_physics_step": 7335
},
{
"action_index": 88,
"end_physics_step": 7435,
"physics_steps": 50,
"start_physics_step": 7385
},
{
"action_index": 89,
"end_physics_step": 7485,
"physics_steps": 50,
"start_physics_step": 7435
},
{
"action_index": 90,
"end_physics_step": 7548,
"physics_steps": 63,
"start_physics_step": 7485
},
{
"action_index": 91,
"end_physics_step": 7632,
"physics_steps": 84,
"start_physics_step": 7548
},
{
"action_index": 92,
"end_physics_step": 7730,
"physics_steps": 98,
"start_physics_step": 7632
},
{
"action_index": 93,
"end_physics_step": 7838,
"physics_steps": 108,
"start_physics_step": 7730
},
{
"action_index": 94,
"end_physics_step": 7956,
"physics_steps": 118,
"start_physics_step": 7838
},
{
"action_index": 95,
"end_physics_step": 8085,
"physics_steps": 129,
"start_physics_step": 7956
},
{
"action_index": 96,
"end_physics_step": 8220,
"physics_steps": 135,
"start_physics_step": 8085
},
{
"action_index": 97,
"end_physics_step": 8362,
"physics_steps": 142,
"start_physics_step": 8220
},
{
"action_index": 98,
"end_physics_step": 8513,
"physics_steps": 151,
"start_physics_step": 8362
},
{
"action_index": 99,
"end_physics_step": 8664,
"physics_steps": 151,
"start_physics_step": 8513
},
{
"action_index": 100,
"end_physics_step": 8816,
"physics_steps": 152,
"start_physics_step": 8664
},
{
"action_index": 101,
"end_physics_step": 8968,
"physics_steps": 152,
"start_physics_step": 8816
},
{
"action_index": 102,
"end_physics_step": 9122,
"physics_steps": 154,
"start_physics_step": 8968
},
{
"action_index": 103,
"end_physics_step": 9277,
"physics_steps": 155,
"start_physics_step": 9122
},
{
"action_index": 104,
"end_physics_step": 9433,
"physics_steps": 156,
"start_physics_step": 9277
},
{
"action_index": 105,
"end_physics_step": 9586,
"physics_steps": 153,
"start_physics_step": 9433
},
{
"action_index": 106,
"end_physics_step": 9738,
"physics_steps": 152,
"start_physics_step": 9586
},
{
"action_index": 107,
"end_physics_step": 9888,
"physics_steps": 150,
"start_physics_step": 9738
},
{
"action_index": 108,
"end_physics_step": 10036,
"physics_steps": 148,
"start_physics_step": 9888
},
{
"action_index": 109,
"end_physics_step": 10182,
"physics_steps": 146,
"start_physics_step": 10036
},
{
"action_index": 110,
"end_physics_step": 10326,
"physics_steps": 144,
"start_physics_step": 10182
},
{
"action_index": 111,
"end_physics_step": 10465,
"physics_steps": 139,
"start_physics_step": 10326
},
{
"action_index": 112,
"end_physics_step": 10600,
"physics_steps": 135,
"start_physics_step": 10465
},
{
"action_index": 113,
"end_physics_step": 10731,
"physics_steps": 131,
"start_physics_step": 10600
},
{
"action_index": 114,
"end_physics_step": 10856,
"physics_steps": 125,
"start_physics_step": 10731
},
{
"action_index": 115,
"end_physics_step": 10973,
"physics_steps": 117,
"start_physics_step": 10856
},
{
"action_index": 116,
"end_physics_step": 11085,
"physics_steps": 112,
"start_physics_step": 10973
},
{
"action_index": 117,
"end_physics_step": 11192,
"physics_steps": 107,
"start_physics_step": 11085
},
{
"action_index": 118,
"end_physics_step": 11291,
"physics_steps": 99,
"start_physics_step": 11192
},
{
"action_index": 119,
"end_physics_step": 11384,
"physics_steps": 93,
"start_physics_step": 11291
},
{
"action_index": 120,
"end_physics_step": 11472,
"physics_steps": 88,
"start_physics_step": 11384
},
{
"action_index": 121,
"end_physics_step": 11551,
"physics_steps": 79,
"start_physics_step": 11472
},
{
"action_index": 122,
"end_physics_step": 11627,
"physics_steps": 76,
"start_physics_step": 11551
},
{
"action_index": 123,
"end_physics_step": 11700,
"physics_steps": 73,
"start_physics_step": 11627
},
{
"action_index": 124,
"end_physics_step": 11769,
"physics_steps": 69,
"start_physics_step": 11700
},
{
"action_index": 125,
"end_physics_step": 11827,
"physics_steps": 58,
"start_physics_step": 11769
},
{
"action_index": 126,
"end_physics_step": 11877,
"physics_steps": 50,
"start_physics_step": 11827
},
{
"action_index": 127,
"end_physics_step": 11927,
"physics_steps": 50,
"start_physics_step": 11877
},
{
"action_index": 128,
"end_physics_step": 11977,
"physics_steps": 50,
"start_physics_step": 11927
},
{
"action_index": 129,
"end_physics_step": 12027,
"physics_steps": 50,
"start_physics_step": 11977
},
{
"action_index": 130,
"end_physics_step": 12077,
"physics_steps": 50,
"start_physics_step": 12027
},
{
"action_index": 131,
"end_physics_step": 12127,
"physics_steps": 50,
"start_physics_step": 12077
},
{
"action_index": 132,
"end_physics_step": 12177,
"physics_steps": 50,
"start_physics_step": 12127
},
{
"action_index": 133,
"end_physics_step": 12227,
"physics_steps": 50,
"start_physics_step": 12177
},
{
"action_index": 134,
"end_physics_step": 12277,
"physics_steps": 50,
"start_physics_step": 12227
},
{
"action_index": 135,
"end_physics_step": 12327,
"physics_steps": 50,
"start_physics_step": 12277
},
{
"action_index": 136,
"end_physics_step": 12377,
"physics_steps": 50,
"start_physics_step": 12327
},
{
"action_index": 137,
"end_physics_step": 12427,
"physics_steps": 50,
"start_physics_step": 12377
},
{
"action_index": 138,
"end_physics_step": 12477,
"physics_steps": 50,
"start_physics_step": 12427
},
{
"action_index": 139,
"end_physics_step": 12527,
"physics_steps": 50,
"start_physics_step": 12477
},
{
"action_index": 140,
"end_physics_step": 12577,
"physics_steps": 50,
"start_physics_step": 12527
},
{
"action_index": 141,
"end_physics_step": 12627,
"physics_steps": 50,
"start_physics_step": 12577
},
{
"action_index": 142,
"end_physics_step": 12677,
"physics_steps": 50,
"start_physics_step": 12627
},
{
"action_index": 143,
"end_physics_step": 12727,
"physics_steps": 50,
"start_physics_step": 12677
},
{
"action_index": 144,
"end_physics_step": 12777,
"physics_steps": 50,
"start_physics_step": 12727
},
{
"action_index": 145,
"end_physics_step": 12827,
"physics_steps": 50,
"start_physics_step": 12777
},
{
"action_index": 146,
"end_physics_step": 12896,
"physics_steps": 69,
"start_physics_step": 12827
},
{
"action_index": 147,
"end_physics_step": 12979,
"physics_steps": 83,
"start_physics_step": 12896
},
{
"action_index": 148,
"end_physics_step": 13072,
"physics_steps": 93,
"start_physics_step": 12979
},
{
"action_index": 149,
"end_physics_step": 13174,
"physics_steps": 102,
"start_physics_step": 13072
},
{
"action_index": 150,
"end_physics_step": 13283,
"physics_steps": 109,
"start_physics_step": 13174
},
{
"action_index": 151,
"end_physics_step": 13397,
"physics_steps": 114,
"start_physics_step": 13283
},
{
"action_index": 152,
"end_physics_step": 13516,
"physics_steps": 119,
"start_physics_step": 13397
},
{
"action_index": 153,
"end_physics_step": 13640,
"physics_steps": 124,
"start_physics_step": 13516
},
{
"action_index": 154,
"end_physics_step": 13768,
"physics_steps": 128,
"start_physics_step": 13640
},
{
"action_index": 155,
"end_physics_step": 13899,
"physics_steps": 131,
"start_physics_step": 13768
},
{
"action_index": 156,
"end_physics_step": 14033,
"physics_steps": 134,
"start_physics_step": 13899
},
{
"action_index": 157,
"end_physics_step": 14169,
"physics_steps": 136,
"start_physics_step": 14033
},
{
"action_index": 158,
"end_physics_step": 14307,
"physics_steps": 138,
"start_physics_step": 14169
},
{
"action_index": 159,
"end_physics_step": 14446,
"physics_steps": 139,
"start_physics_step": 14307
},
{
"action_index": 160,
"end_physics_step": 14585,
"physics_steps": 139,
"start_physics_step": 14446
},
{
"action_index": 161,
"end_physics_step": 14723,
"physics_steps": 138,
"start_physics_step": 14585
},
{
"action_index": 162,
"end_physics_step": 14859,
"physics_steps": 136,
"start_physics_step": 14723
},
{
"action_index": 163,
"end_physics_step": 14993,
"physics_steps": 134,
"start_physics_step": 14859
},
{
"action_index": 164,
"end_physics_step": 15124,
"physics_steps": 131,
"start_physics_step": 14993
},
{
"action_index": 165,
"end_physics_step": 15251,
"physics_steps": 127,
"start_physics_step": 15124
},
{
"action_index": 166,
"end_physics_step": 15373,
"physics_steps": 122,
"start_physics_step": 15251
},
{
"action_index": 167,
"end_physics_step": 15490,
"physics_steps": 117,
"start_physics_step": 15373
},
{
"action_index": 168,
"end_physics_step": 15602,
"physics_steps": 112,
"start_physics_step": 15490
},
{
"action_index": 169,
"end_physics_step": 15707,
"physics_steps": 105,
"start_physics_step": 15602
},
{
"action_index": 170,
"end_physics_step": 15805,
"physics_steps": 98,
"start_physics_step": 15707
},
{
"action_index": 171,
"end_physics_step": 15896,
"physics_steps": 91,
"start_physics_step": 15805
},
{
"action_index": 172,
"end_physics_step": 15980,
"physics_steps": 84,
"start_physics_step": 15896
},
{
"action_index": 173,
"end_physics_step": 15998,
"physics_steps": 18,
"start_physics_step": 15980
}
],
"training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
"training_action_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
-0.030771203339099884,
-0.019644998013973236,
0.9495883584022522
],
"scanner_functional_point": [
0.013647036124033817,
-0.02933754998927185,
0.9275103695864918,
0.535286642290867,
0.48237684290150484,
-0.5492669093149323,
-0.4231863116275956
]
},
"training_action_input_frames": 188,
"training_action_interarm_contact_steps": 0,
"training_action_minimum_capsule_distance_m": 0.16978577782080373,
"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": 15998,
"training_actions_executed": 174
}