Download scan_object/validation/episode25.json from Shiki42/ctr: direct link, hf CLI and curl.
- Browser
- Download file 25.7 kB
-
https://huggingface.co/datasets/Shiki42/ctr/resolve/main/scan_object/validation/episode25.json
- Command line
-
hf download hf://datasets/Shiki42/ctr/scan_object/validation/episode25.json
-
curl -L -o episode25.json https://huggingface.co/datasets/Shiki42/ctr/resolve/main/scan_object/validation/episode25.json
25.7 kB
| { | |
| "artifacts_complete": true, | |
| "camera_validation": { | |
| "episode": 25, | |
| "fovy_deg": { | |
| "left": 90.0, | |
| "right": 90.0 | |
| }, | |
| "frames": 171, | |
| "head_unique_frame_ratio": 0.9532163742690059, | |
| "main_camera_policy": "native_dynamic", | |
| "maximum_mount_distance_error_m": 4.587716345705317e-08, | |
| "maximum_wrist_consecutive_dark_frames": 0, | |
| "maximum_wrist_dark_frame_fraction": 0.0, | |
| "minimum_wrist_median_luminance": 176.8090625, | |
| "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": 176.8090625, | |
| "right": 215.69310763888888 | |
| } | |
| }, | |
| "collision_safe": true, | |
| "collision_summary": { | |
| "contact_step_indices": [], | |
| "first_risk_step": null, | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.18087424611873965, | |
| "moves": { | |
| "object_place": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.23078992343597046 | |
| }, | |
| "scanner_align": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.18087424611873965 | |
| }, | |
| "scanner_grasp+object_grasp": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.21736873901107295 | |
| }, | |
| "scanner_lift+object_lift": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.23519201374685947 | |
| } | |
| }, | |
| "physics_steps_checked": 2269 | |
| }, | |
| "episode": 25, | |
| "frames": 171, | |
| "plan_success": true, | |
| "renderer_validation": { | |
| "camera_shader": "rt", | |
| "episode": 25, | |
| "ray_tracing_denoiser": "optix", | |
| "status": "passed" | |
| }, | |
| "replay_success": true, | |
| "seed": 107, | |
| "source_commits": { | |
| "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", | |
| "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", | |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" | |
| }, | |
| "task_specific_final_state": { | |
| "grippers": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "object_position": [ | |
| 0.03084980696439743, | |
| -0.019230684265494347, | |
| 0.9494030475616455 | |
| ], | |
| "scanner_functional_point": [ | |
| -0.011755117253901357, | |
| -0.012530779728679137, | |
| 0.9713722942743459, | |
| 0.6968911866248007, | |
| -0.11480139290955974, | |
| 0.6976799316718415, | |
| -0.1200251104272641 | |
| ] | |
| }, | |
| "task_success": true, | |
| "timing_summary": { | |
| "active_left_frames": 99, | |
| "active_right_frames": 116, | |
| "active_union_frames": 144, | |
| "avoidable_idle_seconds": 2.808, | |
| "frames": 171, | |
| "overlap_frames": 71, | |
| "overlap_ratio_active": 0.4930555555555556, | |
| "overlap_ratio_all": 0.4152046783625731, | |
| "overlap_seconds": 2.3666666666666667, | |
| "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": 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": 1388, | |
| "physics_steps": 158, | |
| "start_physics_step": 1230 | |
| }, | |
| { | |
| "action_index": 13, | |
| "end_physics_step": 1549, | |
| "physics_steps": 161, | |
| "start_physics_step": 1388 | |
| }, | |
| { | |
| "action_index": 14, | |
| "end_physics_step": 1712, | |
| "physics_steps": 163, | |
| "start_physics_step": 1549 | |
| }, | |
| { | |
| "action_index": 15, | |
| "end_physics_step": 1875, | |
| "physics_steps": 163, | |
| "start_physics_step": 1712 | |
| }, | |
| { | |
| "action_index": 16, | |
| "end_physics_step": 2038, | |
| "physics_steps": 163, | |
| "start_physics_step": 1875 | |
| }, | |
| { | |
| "action_index": 17, | |
| "end_physics_step": 2199, | |
| "physics_steps": 161, | |
| "start_physics_step": 2038 | |
| }, | |
| { | |
| "action_index": 18, | |
| "end_physics_step": 2358, | |
| "physics_steps": 159, | |
| "start_physics_step": 2199 | |
| }, | |
| { | |
| "action_index": 19, | |
| "end_physics_step": 2514, | |
| "physics_steps": 156, | |
| "start_physics_step": 2358 | |
| }, | |
| { | |
| "action_index": 20, | |
| "end_physics_step": 2667, | |
| "physics_steps": 153, | |
| "start_physics_step": 2514 | |
| }, | |
| { | |
| "action_index": 21, | |
| "end_physics_step": 2815, | |
| "physics_steps": 148, | |
| "start_physics_step": 2667 | |
| }, | |
| { | |
| "action_index": 22, | |
| "end_physics_step": 2957, | |
| "physics_steps": 142, | |
| "start_physics_step": 2815 | |
| }, | |
| { | |
| "action_index": 23, | |
| "end_physics_step": 3092, | |
| "physics_steps": 135, | |
| "start_physics_step": 2957 | |
| }, | |
| { | |
| "action_index": 24, | |
| "end_physics_step": 3219, | |
| "physics_steps": 127, | |
| "start_physics_step": 3092 | |
| }, | |
| { | |
| "action_index": 25, | |
| "end_physics_step": 3335, | |
| "physics_steps": 116, | |
| "start_physics_step": 3219 | |
| }, | |
| { | |
| "action_index": 26, | |
| "end_physics_step": 3440, | |
| "physics_steps": 105, | |
| "start_physics_step": 3335 | |
| }, | |
| { | |
| "action_index": 27, | |
| "end_physics_step": 3531, | |
| "physics_steps": 91, | |
| "start_physics_step": 3440 | |
| }, | |
| { | |
| "action_index": 28, | |
| "end_physics_step": 3607, | |
| "physics_steps": 76, | |
| "start_physics_step": 3531 | |
| }, | |
| { | |
| "action_index": 29, | |
| "end_physics_step": 3662, | |
| "physics_steps": 55, | |
| "start_physics_step": 3607 | |
| }, | |
| { | |
| "action_index": 30, | |
| "end_physics_step": 3686, | |
| "physics_steps": 24, | |
| "start_physics_step": 3662 | |
| }, | |
| { | |
| "action_index": 31, | |
| "end_physics_step": 3736, | |
| "physics_steps": 50, | |
| "start_physics_step": 3686 | |
| }, | |
| { | |
| "action_index": 32, | |
| "end_physics_step": 3786, | |
| "physics_steps": 50, | |
| "start_physics_step": 3736 | |
| }, | |
| { | |
| "action_index": 33, | |
| "end_physics_step": 3836, | |
| "physics_steps": 50, | |
| "start_physics_step": 3786 | |
| }, | |
| { | |
| "action_index": 34, | |
| "end_physics_step": 3873, | |
| "physics_steps": 37, | |
| "start_physics_step": 3836 | |
| }, | |
| { | |
| "action_index": 35, | |
| "end_physics_step": 3899, | |
| "physics_steps": 26, | |
| "start_physics_step": 3873 | |
| }, | |
| { | |
| "action_index": 36, | |
| "end_physics_step": 3953, | |
| "physics_steps": 54, | |
| "start_physics_step": 3899 | |
| }, | |
| { | |
| "action_index": 37, | |
| "end_physics_step": 4025, | |
| "physics_steps": 72, | |
| "start_physics_step": 3953 | |
| }, | |
| { | |
| "action_index": 38, | |
| "end_physics_step": 4111, | |
| "physics_steps": 86, | |
| "start_physics_step": 4025 | |
| }, | |
| { | |
| "action_index": 39, | |
| "end_physics_step": 4203, | |
| "physics_steps": 92, | |
| "start_physics_step": 4111 | |
| }, | |
| { | |
| "action_index": 40, | |
| "end_physics_step": 4302, | |
| "physics_steps": 99, | |
| "start_physics_step": 4203 | |
| }, | |
| { | |
| "action_index": 41, | |
| "end_physics_step": 4403, | |
| "physics_steps": 101, | |
| "start_physics_step": 4302 | |
| }, | |
| { | |
| "action_index": 42, | |
| "end_physics_step": 4503, | |
| "physics_steps": 100, | |
| "start_physics_step": 4403 | |
| }, | |
| { | |
| "action_index": 43, | |
| "end_physics_step": 4597, | |
| "physics_steps": 94, | |
| "start_physics_step": 4503 | |
| }, | |
| { | |
| "action_index": 44, | |
| "end_physics_step": 4679, | |
| "physics_steps": 82, | |
| "start_physics_step": 4597 | |
| }, | |
| { | |
| "action_index": 45, | |
| "end_physics_step": 4745, | |
| "physics_steps": 66, | |
| "start_physics_step": 4679 | |
| }, | |
| { | |
| "action_index": 46, | |
| "end_physics_step": 4788, | |
| "physics_steps": 43, | |
| "start_physics_step": 4745 | |
| }, | |
| { | |
| "action_index": 47, | |
| "end_physics_step": 4838, | |
| "physics_steps": 50, | |
| "start_physics_step": 4788 | |
| }, | |
| { | |
| "action_index": 48, | |
| "end_physics_step": 4888, | |
| "physics_steps": 50, | |
| "start_physics_step": 4838 | |
| }, | |
| { | |
| "action_index": 49, | |
| "end_physics_step": 4938, | |
| "physics_steps": 50, | |
| "start_physics_step": 4888 | |
| }, | |
| { | |
| "action_index": 50, | |
| "end_physics_step": 4988, | |
| "physics_steps": 50, | |
| "start_physics_step": 4938 | |
| }, | |
| { | |
| "action_index": 51, | |
| "end_physics_step": 5038, | |
| "physics_steps": 50, | |
| "start_physics_step": 4988 | |
| }, | |
| { | |
| "action_index": 52, | |
| "end_physics_step": 5088, | |
| "physics_steps": 50, | |
| "start_physics_step": 5038 | |
| }, | |
| { | |
| "action_index": 53, | |
| "end_physics_step": 5138, | |
| "physics_steps": 50, | |
| "start_physics_step": 5088 | |
| }, | |
| { | |
| "action_index": 54, | |
| "end_physics_step": 5188, | |
| "physics_steps": 50, | |
| "start_physics_step": 5138 | |
| }, | |
| { | |
| "action_index": 55, | |
| "end_physics_step": 5238, | |
| "physics_steps": 50, | |
| "start_physics_step": 5188 | |
| }, | |
| { | |
| "action_index": 56, | |
| "end_physics_step": 5288, | |
| "physics_steps": 50, | |
| "start_physics_step": 5238 | |
| }, | |
| { | |
| "action_index": 57, | |
| "end_physics_step": 5338, | |
| "physics_steps": 50, | |
| "start_physics_step": 5288 | |
| }, | |
| { | |
| "action_index": 58, | |
| "end_physics_step": 5388, | |
| "physics_steps": 50, | |
| "start_physics_step": 5338 | |
| }, | |
| { | |
| "action_index": 59, | |
| "end_physics_step": 5438, | |
| "physics_steps": 50, | |
| "start_physics_step": 5388 | |
| }, | |
| { | |
| "action_index": 60, | |
| "end_physics_step": 5488, | |
| "physics_steps": 50, | |
| "start_physics_step": 5438 | |
| }, | |
| { | |
| "action_index": 61, | |
| "end_physics_step": 5538, | |
| "physics_steps": 50, | |
| "start_physics_step": 5488 | |
| }, | |
| { | |
| "action_index": 62, | |
| "end_physics_step": 5588, | |
| "physics_steps": 50, | |
| "start_physics_step": 5538 | |
| }, | |
| { | |
| "action_index": 63, | |
| "end_physics_step": 5638, | |
| "physics_steps": 50, | |
| "start_physics_step": 5588 | |
| }, | |
| { | |
| "action_index": 64, | |
| "end_physics_step": 5688, | |
| "physics_steps": 50, | |
| "start_physics_step": 5638 | |
| }, | |
| { | |
| "action_index": 65, | |
| "end_physics_step": 5738, | |
| "physics_steps": 50, | |
| "start_physics_step": 5688 | |
| }, | |
| { | |
| "action_index": 66, | |
| "end_physics_step": 5788, | |
| "physics_steps": 50, | |
| "start_physics_step": 5738 | |
| }, | |
| { | |
| "action_index": 67, | |
| "end_physics_step": 5838, | |
| "physics_steps": 50, | |
| "start_physics_step": 5788 | |
| }, | |
| { | |
| "action_index": 68, | |
| "end_physics_step": 5888, | |
| "physics_steps": 50, | |
| "start_physics_step": 5838 | |
| }, | |
| { | |
| "action_index": 69, | |
| "end_physics_step": 5938, | |
| "physics_steps": 50, | |
| "start_physics_step": 5888 | |
| }, | |
| { | |
| "action_index": 70, | |
| "end_physics_step": 5988, | |
| "physics_steps": 50, | |
| "start_physics_step": 5938 | |
| }, | |
| { | |
| "action_index": 71, | |
| "end_physics_step": 6010, | |
| "physics_steps": 22, | |
| "start_physics_step": 5988 | |
| }, | |
| { | |
| "action_index": 72, | |
| "end_physics_step": 6036, | |
| "physics_steps": 26, | |
| "start_physics_step": 6010 | |
| }, | |
| { | |
| "action_index": 73, | |
| "end_physics_step": 6093, | |
| "physics_steps": 57, | |
| "start_physics_step": 6036 | |
| }, | |
| { | |
| "action_index": 74, | |
| "end_physics_step": 6170, | |
| "physics_steps": 77, | |
| "start_physics_step": 6093 | |
| }, | |
| { | |
| "action_index": 75, | |
| "end_physics_step": 6262, | |
| "physics_steps": 92, | |
| "start_physics_step": 6170 | |
| }, | |
| { | |
| "action_index": 76, | |
| "end_physics_step": 6367, | |
| "physics_steps": 105, | |
| "start_physics_step": 6262 | |
| }, | |
| { | |
| "action_index": 77, | |
| "end_physics_step": 6481, | |
| "physics_steps": 114, | |
| "start_physics_step": 6367 | |
| }, | |
| { | |
| "action_index": 78, | |
| "end_physics_step": 6601, | |
| "physics_steps": 120, | |
| "start_physics_step": 6481 | |
| }, | |
| { | |
| "action_index": 79, | |
| "end_physics_step": 6721, | |
| "physics_steps": 120, | |
| "start_physics_step": 6601 | |
| }, | |
| { | |
| "action_index": 80, | |
| "end_physics_step": 6839, | |
| "physics_steps": 118, | |
| "start_physics_step": 6721 | |
| }, | |
| { | |
| "action_index": 81, | |
| "end_physics_step": 6948, | |
| "physics_steps": 109, | |
| "start_physics_step": 6839 | |
| }, | |
| { | |
| "action_index": 82, | |
| "end_physics_step": 7044, | |
| "physics_steps": 96, | |
| "start_physics_step": 6948 | |
| }, | |
| { | |
| "action_index": 83, | |
| "end_physics_step": 7125, | |
| "physics_steps": 81, | |
| "start_physics_step": 7044 | |
| }, | |
| { | |
| "action_index": 84, | |
| "end_physics_step": 7188, | |
| "physics_steps": 63, | |
| "start_physics_step": 7125 | |
| }, | |
| { | |
| "action_index": 85, | |
| "end_physics_step": 7224, | |
| "physics_steps": 36, | |
| "start_physics_step": 7188 | |
| }, | |
| { | |
| "action_index": 86, | |
| "end_physics_step": 7274, | |
| "physics_steps": 50, | |
| "start_physics_step": 7224 | |
| }, | |
| { | |
| "action_index": 87, | |
| "end_physics_step": 7324, | |
| "physics_steps": 50, | |
| "start_physics_step": 7274 | |
| }, | |
| { | |
| "action_index": 88, | |
| "end_physics_step": 7374, | |
| "physics_steps": 50, | |
| "start_physics_step": 7324 | |
| }, | |
| { | |
| "action_index": 89, | |
| "end_physics_step": 7424, | |
| "physics_steps": 50, | |
| "start_physics_step": 7374 | |
| }, | |
| { | |
| "action_index": 90, | |
| "end_physics_step": 7474, | |
| "physics_steps": 50, | |
| "start_physics_step": 7424 | |
| }, | |
| { | |
| "action_index": 91, | |
| "end_physics_step": 7540, | |
| "physics_steps": 66, | |
| "start_physics_step": 7474 | |
| }, | |
| { | |
| "action_index": 92, | |
| "end_physics_step": 7623, | |
| "physics_steps": 83, | |
| "start_physics_step": 7540 | |
| }, | |
| { | |
| "action_index": 93, | |
| "end_physics_step": 7724, | |
| "physics_steps": 101, | |
| "start_physics_step": 7623 | |
| }, | |
| { | |
| "action_index": 94, | |
| "end_physics_step": 7836, | |
| "physics_steps": 112, | |
| "start_physics_step": 7724 | |
| }, | |
| { | |
| "action_index": 95, | |
| "end_physics_step": 7958, | |
| "physics_steps": 122, | |
| "start_physics_step": 7836 | |
| }, | |
| { | |
| "action_index": 96, | |
| "end_physics_step": 8091, | |
| "physics_steps": 133, | |
| "start_physics_step": 7958 | |
| }, | |
| { | |
| "action_index": 97, | |
| "end_physics_step": 8234, | |
| "physics_steps": 143, | |
| "start_physics_step": 8091 | |
| }, | |
| { | |
| "action_index": 98, | |
| "end_physics_step": 8384, | |
| "physics_steps": 150, | |
| "start_physics_step": 8234 | |
| }, | |
| { | |
| "action_index": 99, | |
| "end_physics_step": 8540, | |
| "physics_steps": 156, | |
| "start_physics_step": 8384 | |
| }, | |
| { | |
| "action_index": 100, | |
| "end_physics_step": 8702, | |
| "physics_steps": 162, | |
| "start_physics_step": 8540 | |
| }, | |
| { | |
| "action_index": 101, | |
| "end_physics_step": 8867, | |
| "physics_steps": 165, | |
| "start_physics_step": 8702 | |
| }, | |
| { | |
| "action_index": 102, | |
| "end_physics_step": 9034, | |
| "physics_steps": 167, | |
| "start_physics_step": 8867 | |
| }, | |
| { | |
| "action_index": 103, | |
| "end_physics_step": 9202, | |
| "physics_steps": 168, | |
| "start_physics_step": 9034 | |
| }, | |
| { | |
| "action_index": 104, | |
| "end_physics_step": 9369, | |
| "physics_steps": 167, | |
| "start_physics_step": 9202 | |
| }, | |
| { | |
| "action_index": 105, | |
| "end_physics_step": 9534, | |
| "physics_steps": 165, | |
| "start_physics_step": 9369 | |
| }, | |
| { | |
| "action_index": 106, | |
| "end_physics_step": 9696, | |
| "physics_steps": 162, | |
| "start_physics_step": 9534 | |
| }, | |
| { | |
| "action_index": 107, | |
| "end_physics_step": 9855, | |
| "physics_steps": 159, | |
| "start_physics_step": 9696 | |
| }, | |
| { | |
| "action_index": 108, | |
| "end_physics_step": 10009, | |
| "physics_steps": 154, | |
| "start_physics_step": 9855 | |
| }, | |
| { | |
| "action_index": 109, | |
| "end_physics_step": 10160, | |
| "physics_steps": 151, | |
| "start_physics_step": 10009 | |
| }, | |
| { | |
| "action_index": 110, | |
| "end_physics_step": 10308, | |
| "physics_steps": 148, | |
| "start_physics_step": 10160 | |
| }, | |
| { | |
| "action_index": 111, | |
| "end_physics_step": 10454, | |
| "physics_steps": 146, | |
| "start_physics_step": 10308 | |
| }, | |
| { | |
| "action_index": 112, | |
| "end_physics_step": 10598, | |
| "physics_steps": 144, | |
| "start_physics_step": 10454 | |
| }, | |
| { | |
| "action_index": 113, | |
| "end_physics_step": 10740, | |
| "physics_steps": 142, | |
| "start_physics_step": 10598 | |
| }, | |
| { | |
| "action_index": 114, | |
| "end_physics_step": 10880, | |
| "physics_steps": 140, | |
| "start_physics_step": 10740 | |
| }, | |
| { | |
| "action_index": 115, | |
| "end_physics_step": 11016, | |
| "physics_steps": 136, | |
| "start_physics_step": 10880 | |
| }, | |
| { | |
| "action_index": 116, | |
| "end_physics_step": 11146, | |
| "physics_steps": 130, | |
| "start_physics_step": 11016 | |
| }, | |
| { | |
| "action_index": 117, | |
| "end_physics_step": 11271, | |
| "physics_steps": 125, | |
| "start_physics_step": 11146 | |
| }, | |
| { | |
| "action_index": 118, | |
| "end_physics_step": 11388, | |
| "physics_steps": 117, | |
| "start_physics_step": 11271 | |
| }, | |
| { | |
| "action_index": 119, | |
| "end_physics_step": 11498, | |
| "physics_steps": 110, | |
| "start_physics_step": 11388 | |
| }, | |
| { | |
| "action_index": 120, | |
| "end_physics_step": 11603, | |
| "physics_steps": 105, | |
| "start_physics_step": 11498 | |
| }, | |
| { | |
| "action_index": 121, | |
| "end_physics_step": 11703, | |
| "physics_steps": 100, | |
| "start_physics_step": 11603 | |
| }, | |
| { | |
| "action_index": 122, | |
| "end_physics_step": 11795, | |
| "physics_steps": 92, | |
| "start_physics_step": 11703 | |
| }, | |
| { | |
| "action_index": 123, | |
| "end_physics_step": 11878, | |
| "physics_steps": 83, | |
| "start_physics_step": 11795 | |
| }, | |
| { | |
| "action_index": 124, | |
| "end_physics_step": 11954, | |
| "physics_steps": 76, | |
| "start_physics_step": 11878 | |
| }, | |
| { | |
| "action_index": 125, | |
| "end_physics_step": 12022, | |
| "physics_steps": 68, | |
| "start_physics_step": 11954 | |
| }, | |
| { | |
| "action_index": 126, | |
| "end_physics_step": 12078, | |
| "physics_steps": 56, | |
| "start_physics_step": 12022 | |
| }, | |
| { | |
| "action_index": 127, | |
| "end_physics_step": 12128, | |
| "physics_steps": 50, | |
| "start_physics_step": 12078 | |
| }, | |
| { | |
| "action_index": 128, | |
| "end_physics_step": 12178, | |
| "physics_steps": 50, | |
| "start_physics_step": 12128 | |
| }, | |
| { | |
| "action_index": 129, | |
| "end_physics_step": 12228, | |
| "physics_steps": 50, | |
| "start_physics_step": 12178 | |
| }, | |
| { | |
| "action_index": 130, | |
| "end_physics_step": 12278, | |
| "physics_steps": 50, | |
| "start_physics_step": 12228 | |
| }, | |
| { | |
| "action_index": 131, | |
| "end_physics_step": 12328, | |
| "physics_steps": 50, | |
| "start_physics_step": 12278 | |
| }, | |
| { | |
| "action_index": 132, | |
| "end_physics_step": 12378, | |
| "physics_steps": 50, | |
| "start_physics_step": 12328 | |
| }, | |
| { | |
| "action_index": 133, | |
| "end_physics_step": 12428, | |
| "physics_steps": 50, | |
| "start_physics_step": 12378 | |
| }, | |
| { | |
| "action_index": 134, | |
| "end_physics_step": 12478, | |
| "physics_steps": 50, | |
| "start_physics_step": 12428 | |
| }, | |
| { | |
| "action_index": 135, | |
| "end_physics_step": 12528, | |
| "physics_steps": 50, | |
| "start_physics_step": 12478 | |
| }, | |
| { | |
| "action_index": 136, | |
| "end_physics_step": 12578, | |
| "physics_steps": 50, | |
| "start_physics_step": 12528 | |
| }, | |
| { | |
| "action_index": 137, | |
| "end_physics_step": 12628, | |
| "physics_steps": 50, | |
| "start_physics_step": 12578 | |
| }, | |
| { | |
| "action_index": 138, | |
| "end_physics_step": 12678, | |
| "physics_steps": 50, | |
| "start_physics_step": 12628 | |
| }, | |
| { | |
| "action_index": 139, | |
| "end_physics_step": 12728, | |
| "physics_steps": 50, | |
| "start_physics_step": 12678 | |
| }, | |
| { | |
| "action_index": 140, | |
| "end_physics_step": 12778, | |
| "physics_steps": 50, | |
| "start_physics_step": 12728 | |
| }, | |
| { | |
| "action_index": 141, | |
| "end_physics_step": 12828, | |
| "physics_steps": 50, | |
| "start_physics_step": 12778 | |
| }, | |
| { | |
| "action_index": 142, | |
| "end_physics_step": 12881, | |
| "physics_steps": 53, | |
| "start_physics_step": 12828 | |
| }, | |
| { | |
| "action_index": 143, | |
| "end_physics_step": 12955, | |
| "physics_steps": 74, | |
| "start_physics_step": 12881 | |
| }, | |
| { | |
| "action_index": 144, | |
| "end_physics_step": 13046, | |
| "physics_steps": 91, | |
| "start_physics_step": 12955 | |
| }, | |
| { | |
| "action_index": 145, | |
| "end_physics_step": 13149, | |
| "physics_steps": 103, | |
| "start_physics_step": 13046 | |
| }, | |
| { | |
| "action_index": 146, | |
| "end_physics_step": 13265, | |
| "physics_steps": 116, | |
| "start_physics_step": 13149 | |
| }, | |
| { | |
| "action_index": 147, | |
| "end_physics_step": 13391, | |
| "physics_steps": 126, | |
| "start_physics_step": 13265 | |
| }, | |
| { | |
| "action_index": 148, | |
| "end_physics_step": 13525, | |
| "physics_steps": 134, | |
| "start_physics_step": 13391 | |
| }, | |
| { | |
| "action_index": 149, | |
| "end_physics_step": 13666, | |
| "physics_steps": 141, | |
| "start_physics_step": 13525 | |
| }, | |
| { | |
| "action_index": 150, | |
| "end_physics_step": 13810, | |
| "physics_steps": 144, | |
| "start_physics_step": 13666 | |
| }, | |
| { | |
| "action_index": 151, | |
| "end_physics_step": 13956, | |
| "physics_steps": 146, | |
| "start_physics_step": 13810 | |
| }, | |
| { | |
| "action_index": 152, | |
| "end_physics_step": 14102, | |
| "physics_steps": 146, | |
| "start_physics_step": 13956 | |
| }, | |
| { | |
| "action_index": 153, | |
| "end_physics_step": 14247, | |
| "physics_steps": 145, | |
| "start_physics_step": 14102 | |
| }, | |
| { | |
| "action_index": 154, | |
| "end_physics_step": 14388, | |
| "physics_steps": 141, | |
| "start_physics_step": 14247 | |
| }, | |
| { | |
| "action_index": 155, | |
| "end_physics_step": 14463, | |
| "physics_steps": 75, | |
| "start_physics_step": 14388 | |
| } | |
| ], | |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", | |
| "training_action_final_state": { | |
| "grippers": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "object_position": [ | |
| 0.0294606015086174, | |
| -0.019619997590780258, | |
| 0.9494017958641052 | |
| ], | |
| "scanner_functional_point": [ | |
| -0.01654530850646807, | |
| -0.03605517469694309, | |
| 0.9358095414317228, | |
| 0.5904304294813574, | |
| -0.18007238923337426, | |
| 0.7777333608153149, | |
| -0.11872936474671819 | |
| ] | |
| }, | |
| "training_action_input_frames": 171, | |
| "training_action_interarm_contact_steps": 0, | |
| "training_action_minimum_capsule_distance_m": 0.1869106948495808, | |
| "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": 14463, | |
| "training_actions_executed": 156 | |
| } | |