| { |
| "artifacts_complete": true, |
| "camera_validation": { |
| "episode": 29, |
| "fovy_deg": { |
| "left": 90.0, |
| "right": 90.0 |
| }, |
| "frames": 178, |
| "head_unique_frame_ratio": 0.9606741573033708, |
| "main_camera_policy": "native_dynamic", |
| "maximum_mount_distance_error_m": 5.4623391615438166e-08, |
| "maximum_wrist_consecutive_dark_frames": 0, |
| "maximum_wrist_dark_frame_fraction": 0.0, |
| "minimum_wrist_median_luminance": 196.40450303819443, |
| "parallel_head_unique_frame_ratio": 0.968421052631579, |
| "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": 201.9051974826389, |
| "right": 196.40450303819443 |
| } |
| }, |
| "collision_safe": true, |
| "collision_summary": { |
| "contact_step_indices": [], |
| "first_risk_step": null, |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.14142135314159734, |
| "moves": { |
| "object_place": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.2524707636180554 |
| }, |
| "scanner_align": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1856789787703185 |
| }, |
| "scanner_grasp+object_grasp": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.14142135314159734 |
| }, |
| "scanner_lift+object_lift": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1771178311490294 |
| } |
| }, |
| "physics_steps_checked": 2374 |
| }, |
| "episode": 29, |
| "frames": 178, |
| "plan_success": true, |
| "renderer_validation": { |
| "camera_shader": "rt", |
| "episode": 29, |
| "ray_tracing_denoiser": "optix", |
| "status": "passed" |
| }, |
| "replay_success": true, |
| "seed": 134, |
| "source_commits": { |
| "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", |
| "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" |
| }, |
| "task_specific_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| 0.02932104468345642, |
| -0.019992871209979057, |
| 0.9495518207550049 |
| ], |
| "scanner_functional_point": [ |
| -0.022461452949704606, |
| -0.01008361520539438, |
| 0.954849481020122, |
| 0.5948785252155018, |
| -0.3843806094066734, |
| 0.5936055716173473, |
| -0.38210406003394737 |
| ] |
| }, |
| "task_success": true, |
| "timing_summary": { |
| "active_left_frames": 110, |
| "active_right_frames": 117, |
| "active_union_frames": 150, |
| "avoidable_idle_seconds": 2.456, |
| "frames": 178, |
| "overlap_frames": 77, |
| "overlap_ratio_active": 0.5133333333333333, |
| "overlap_ratio_all": 0.43258426966292135, |
| "overlap_seconds": 2.566666666666667, |
| "seconds": 5.933333333333334, |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| "training_action_collision_safe": true, |
| "training_action_count": 177, |
| "training_action_execution_intervals": [ |
| { |
| "action_index": 0, |
| "end_physics_step": 50, |
| "physics_steps": 50, |
| "start_physics_step": 0 |
| }, |
| { |
| "action_index": 1, |
| "end_physics_step": 100, |
| "physics_steps": 50, |
| "start_physics_step": 50 |
| }, |
| { |
| "action_index": 2, |
| "end_physics_step": 149, |
| "physics_steps": 49, |
| "start_physics_step": 100 |
| }, |
| { |
| "action_index": 3, |
| "end_physics_step": 220, |
| "physics_steps": 71, |
| "start_physics_step": 149 |
| }, |
| { |
| "action_index": 4, |
| "end_physics_step": 308, |
| "physics_steps": 88, |
| "start_physics_step": 220 |
| }, |
| { |
| "action_index": 5, |
| "end_physics_step": 410, |
| "physics_steps": 102, |
| "start_physics_step": 308 |
| }, |
| { |
| "action_index": 6, |
| "end_physics_step": 524, |
| "physics_steps": 114, |
| "start_physics_step": 410 |
| }, |
| { |
| "action_index": 7, |
| "end_physics_step": 649, |
| "physics_steps": 125, |
| "start_physics_step": 524 |
| }, |
| { |
| "action_index": 8, |
| "end_physics_step": 783, |
| "physics_steps": 134, |
| "start_physics_step": 649 |
| }, |
| { |
| "action_index": 9, |
| "end_physics_step": 925, |
| "physics_steps": 142, |
| "start_physics_step": 783 |
| }, |
| { |
| "action_index": 10, |
| "end_physics_step": 1074, |
| "physics_steps": 149, |
| "start_physics_step": 925 |
| }, |
| { |
| "action_index": 11, |
| "end_physics_step": 1229, |
| "physics_steps": 155, |
| "start_physics_step": 1074 |
| }, |
| { |
| "action_index": 12, |
| "end_physics_step": 1389, |
| "physics_steps": 160, |
| "start_physics_step": 1229 |
| }, |
| { |
| "action_index": 13, |
| "end_physics_step": 1552, |
| "physics_steps": 163, |
| "start_physics_step": 1389 |
| }, |
| { |
| "action_index": 14, |
| "end_physics_step": 1718, |
| "physics_steps": 166, |
| "start_physics_step": 1552 |
| }, |
| { |
| "action_index": 15, |
| "end_physics_step": 1886, |
| "physics_steps": 168, |
| "start_physics_step": 1718 |
| }, |
| { |
| "action_index": 16, |
| "end_physics_step": 2055, |
| "physics_steps": 169, |
| "start_physics_step": 1886 |
| }, |
| { |
| "action_index": 17, |
| "end_physics_step": 2225, |
| "physics_steps": 170, |
| "start_physics_step": 2055 |
| }, |
| { |
| "action_index": 18, |
| "end_physics_step": 2394, |
| "physics_steps": 169, |
| "start_physics_step": 2225 |
| }, |
| { |
| "action_index": 19, |
| "end_physics_step": 2562, |
| "physics_steps": 168, |
| "start_physics_step": 2394 |
| }, |
| { |
| "action_index": 20, |
| "end_physics_step": 2728, |
| "physics_steps": 166, |
| "start_physics_step": 2562 |
| }, |
| { |
| "action_index": 21, |
| "end_physics_step": 2890, |
| "physics_steps": 162, |
| "start_physics_step": 2728 |
| }, |
| { |
| "action_index": 22, |
| "end_physics_step": 3048, |
| "physics_steps": 158, |
| "start_physics_step": 2890 |
| }, |
| { |
| "action_index": 23, |
| "end_physics_step": 3201, |
| "physics_steps": 153, |
| "start_physics_step": 3048 |
| }, |
| { |
| "action_index": 24, |
| "end_physics_step": 3349, |
| "physics_steps": 148, |
| "start_physics_step": 3201 |
| }, |
| { |
| "action_index": 25, |
| "end_physics_step": 3490, |
| "physics_steps": 141, |
| "start_physics_step": 3349 |
| }, |
| { |
| "action_index": 26, |
| "end_physics_step": 3623, |
| "physics_steps": 133, |
| "start_physics_step": 3490 |
| }, |
| { |
| "action_index": 27, |
| "end_physics_step": 3748, |
| "physics_steps": 125, |
| "start_physics_step": 3623 |
| }, |
| { |
| "action_index": 28, |
| "end_physics_step": 3862, |
| "physics_steps": 114, |
| "start_physics_step": 3748 |
| }, |
| { |
| "action_index": 29, |
| "end_physics_step": 3964, |
| "physics_steps": 102, |
| "start_physics_step": 3862 |
| }, |
| { |
| "action_index": 30, |
| "end_physics_step": 4052, |
| "physics_steps": 88, |
| "start_physics_step": 3964 |
| }, |
| { |
| "action_index": 31, |
| "end_physics_step": 4124, |
| "physics_steps": 72, |
| "start_physics_step": 4052 |
| }, |
| { |
| "action_index": 32, |
| "end_physics_step": 4174, |
| "physics_steps": 50, |
| "start_physics_step": 4124 |
| }, |
| { |
| "action_index": 33, |
| "end_physics_step": 4224, |
| "physics_steps": 50, |
| "start_physics_step": 4174 |
| }, |
| { |
| "action_index": 34, |
| "end_physics_step": 4274, |
| "physics_steps": 50, |
| "start_physics_step": 4224 |
| }, |
| { |
| "action_index": 35, |
| "end_physics_step": 4324, |
| "physics_steps": 50, |
| "start_physics_step": 4274 |
| }, |
| { |
| "action_index": 36, |
| "end_physics_step": 4374, |
| "physics_steps": 50, |
| "start_physics_step": 4324 |
| }, |
| { |
| "action_index": 37, |
| "end_physics_step": 4424, |
| "physics_steps": 50, |
| "start_physics_step": 4374 |
| }, |
| { |
| "action_index": 38, |
| "end_physics_step": 4449, |
| "physics_steps": 25, |
| "start_physics_step": 4424 |
| }, |
| { |
| "action_index": 39, |
| "end_physics_step": 4504, |
| "physics_steps": 55, |
| "start_physics_step": 4449 |
| }, |
| { |
| "action_index": 40, |
| "end_physics_step": 4574, |
| "physics_steps": 70, |
| "start_physics_step": 4504 |
| }, |
| { |
| "action_index": 41, |
| "end_physics_step": 4654, |
| "physics_steps": 80, |
| "start_physics_step": 4574 |
| }, |
| { |
| "action_index": 42, |
| "end_physics_step": 4741, |
| "physics_steps": 87, |
| "start_physics_step": 4654 |
| }, |
| { |
| "action_index": 43, |
| "end_physics_step": 4832, |
| "physics_steps": 91, |
| "start_physics_step": 4741 |
| }, |
| { |
| "action_index": 44, |
| "end_physics_step": 4926, |
| "physics_steps": 94, |
| "start_physics_step": 4832 |
| }, |
| { |
| "action_index": 45, |
| "end_physics_step": 5022, |
| "physics_steps": 96, |
| "start_physics_step": 4926 |
| }, |
| { |
| "action_index": 46, |
| "end_physics_step": 5115, |
| "physics_steps": 93, |
| "start_physics_step": 5022 |
| }, |
| { |
| "action_index": 47, |
| "end_physics_step": 5205, |
| "physics_steps": 90, |
| "start_physics_step": 5115 |
| }, |
| { |
| "action_index": 48, |
| "end_physics_step": 5289, |
| "physics_steps": 84, |
| "start_physics_step": 5205 |
| }, |
| { |
| "action_index": 49, |
| "end_physics_step": 5365, |
| "physics_steps": 76, |
| "start_physics_step": 5289 |
| }, |
| { |
| "action_index": 50, |
| "end_physics_step": 5428, |
| "physics_steps": 63, |
| "start_physics_step": 5365 |
| }, |
| { |
| "action_index": 51, |
| "end_physics_step": 5472, |
| "physics_steps": 44, |
| "start_physics_step": 5428 |
| }, |
| { |
| "action_index": 52, |
| "end_physics_step": 5484, |
| "physics_steps": 12, |
| "start_physics_step": 5472 |
| }, |
| { |
| "action_index": 53, |
| "end_physics_step": 5534, |
| "physics_steps": 50, |
| "start_physics_step": 5484 |
| }, |
| { |
| "action_index": 54, |
| "end_physics_step": 5584, |
| "physics_steps": 50, |
| "start_physics_step": 5534 |
| }, |
| { |
| "action_index": 55, |
| "end_physics_step": 5634, |
| "physics_steps": 50, |
| "start_physics_step": 5584 |
| }, |
| { |
| "action_index": 56, |
| "end_physics_step": 5684, |
| "physics_steps": 50, |
| "start_physics_step": 5634 |
| }, |
| { |
| "action_index": 57, |
| "end_physics_step": 5734, |
| "physics_steps": 50, |
| "start_physics_step": 5684 |
| }, |
| { |
| "action_index": 58, |
| "end_physics_step": 5784, |
| "physics_steps": 50, |
| "start_physics_step": 5734 |
| }, |
| { |
| "action_index": 59, |
| "end_physics_step": 5834, |
| "physics_steps": 50, |
| "start_physics_step": 5784 |
| }, |
| { |
| "action_index": 60, |
| "end_physics_step": 5884, |
| "physics_steps": 50, |
| "start_physics_step": 5834 |
| }, |
| { |
| "action_index": 61, |
| "end_physics_step": 5934, |
| "physics_steps": 50, |
| "start_physics_step": 5884 |
| }, |
| { |
| "action_index": 62, |
| "end_physics_step": 5984, |
| "physics_steps": 50, |
| "start_physics_step": 5934 |
| }, |
| { |
| "action_index": 63, |
| "end_physics_step": 6034, |
| "physics_steps": 50, |
| "start_physics_step": 5984 |
| }, |
| { |
| "action_index": 64, |
| "end_physics_step": 6084, |
| "physics_steps": 50, |
| "start_physics_step": 6034 |
| }, |
| { |
| "action_index": 65, |
| "end_physics_step": 6134, |
| "physics_steps": 50, |
| "start_physics_step": 6084 |
| }, |
| { |
| "action_index": 66, |
| "end_physics_step": 6184, |
| "physics_steps": 50, |
| "start_physics_step": 6134 |
| }, |
| { |
| "action_index": 67, |
| "end_physics_step": 6234, |
| "physics_steps": 50, |
| "start_physics_step": 6184 |
| }, |
| { |
| "action_index": 68, |
| "end_physics_step": 6284, |
| "physics_steps": 50, |
| "start_physics_step": 6234 |
| }, |
| { |
| "action_index": 69, |
| "end_physics_step": 6334, |
| "physics_steps": 50, |
| "start_physics_step": 6284 |
| }, |
| { |
| "action_index": 70, |
| "end_physics_step": 6384, |
| "physics_steps": 50, |
| "start_physics_step": 6334 |
| }, |
| { |
| "action_index": 71, |
| "end_physics_step": 6434, |
| "physics_steps": 50, |
| "start_physics_step": 6384 |
| }, |
| { |
| "action_index": 72, |
| "end_physics_step": 6484, |
| "physics_steps": 50, |
| "start_physics_step": 6434 |
| }, |
| { |
| "action_index": 73, |
| "end_physics_step": 6534, |
| "physics_steps": 50, |
| "start_physics_step": 6484 |
| }, |
| { |
| "action_index": 74, |
| "end_physics_step": 6584, |
| "physics_steps": 50, |
| "start_physics_step": 6534 |
| }, |
| { |
| "action_index": 75, |
| "end_physics_step": 6634, |
| "physics_steps": 50, |
| "start_physics_step": 6584 |
| }, |
| { |
| "action_index": 76, |
| "end_physics_step": 6684, |
| "physics_steps": 50, |
| "start_physics_step": 6634 |
| }, |
| { |
| "action_index": 77, |
| "end_physics_step": 6708, |
| "physics_steps": 24, |
| "start_physics_step": 6684 |
| }, |
| { |
| "action_index": 78, |
| "end_physics_step": 6732, |
| "physics_steps": 24, |
| "start_physics_step": 6708 |
| }, |
| { |
| "action_index": 79, |
| "end_physics_step": 6788, |
| "physics_steps": 56, |
| "start_physics_step": 6732 |
| }, |
| { |
| "action_index": 80, |
| "end_physics_step": 6864, |
| "physics_steps": 76, |
| "start_physics_step": 6788 |
| }, |
| { |
| "action_index": 81, |
| "end_physics_step": 6956, |
| "physics_steps": 92, |
| "start_physics_step": 6864 |
| }, |
| { |
| "action_index": 82, |
| "end_physics_step": 7060, |
| "physics_steps": 104, |
| "start_physics_step": 6956 |
| }, |
| { |
| "action_index": 83, |
| "end_physics_step": 7173, |
| "physics_steps": 113, |
| "start_physics_step": 7060 |
| }, |
| { |
| "action_index": 84, |
| "end_physics_step": 7293, |
| "physics_steps": 120, |
| "start_physics_step": 7173 |
| }, |
| { |
| "action_index": 85, |
| "end_physics_step": 7415, |
| "physics_steps": 122, |
| "start_physics_step": 7293 |
| }, |
| { |
| "action_index": 86, |
| "end_physics_step": 7537, |
| "physics_steps": 122, |
| "start_physics_step": 7415 |
| }, |
| { |
| "action_index": 87, |
| "end_physics_step": 7655, |
| "physics_steps": 118, |
| "start_physics_step": 7537 |
| }, |
| { |
| "action_index": 88, |
| "end_physics_step": 7764, |
| "physics_steps": 109, |
| "start_physics_step": 7655 |
| }, |
| { |
| "action_index": 89, |
| "end_physics_step": 7861, |
| "physics_steps": 97, |
| "start_physics_step": 7764 |
| }, |
| { |
| "action_index": 90, |
| "end_physics_step": 7943, |
| "physics_steps": 82, |
| "start_physics_step": 7861 |
| }, |
| { |
| "action_index": 91, |
| "end_physics_step": 8007, |
| "physics_steps": 64, |
| "start_physics_step": 7943 |
| }, |
| { |
| "action_index": 92, |
| "end_physics_step": 8046, |
| "physics_steps": 39, |
| "start_physics_step": 8007 |
| }, |
| { |
| "action_index": 93, |
| "end_physics_step": 8096, |
| "physics_steps": 50, |
| "start_physics_step": 8046 |
| }, |
| { |
| "action_index": 94, |
| "end_physics_step": 8146, |
| "physics_steps": 50, |
| "start_physics_step": 8096 |
| }, |
| { |
| "action_index": 95, |
| "end_physics_step": 8196, |
| "physics_steps": 50, |
| "start_physics_step": 8146 |
| }, |
| { |
| "action_index": 96, |
| "end_physics_step": 8246, |
| "physics_steps": 50, |
| "start_physics_step": 8196 |
| }, |
| { |
| "action_index": 97, |
| "end_physics_step": 8296, |
| "physics_steps": 50, |
| "start_physics_step": 8246 |
| }, |
| { |
| "action_index": 98, |
| "end_physics_step": 8365, |
| "physics_steps": 69, |
| "start_physics_step": 8296 |
| }, |
| { |
| "action_index": 99, |
| "end_physics_step": 8450, |
| "physics_steps": 85, |
| "start_physics_step": 8365 |
| }, |
| { |
| "action_index": 100, |
| "end_physics_step": 8549, |
| "physics_steps": 99, |
| "start_physics_step": 8450 |
| }, |
| { |
| "action_index": 101, |
| "end_physics_step": 8660, |
| "physics_steps": 111, |
| "start_physics_step": 8549 |
| }, |
| { |
| "action_index": 102, |
| "end_physics_step": 8783, |
| "physics_steps": 123, |
| "start_physics_step": 8660 |
| }, |
| { |
| "action_index": 103, |
| "end_physics_step": 8917, |
| "physics_steps": 134, |
| "start_physics_step": 8783 |
| }, |
| { |
| "action_index": 104, |
| "end_physics_step": 9060, |
| "physics_steps": 143, |
| "start_physics_step": 8917 |
| }, |
| { |
| "action_index": 105, |
| "end_physics_step": 9210, |
| "physics_steps": 150, |
| "start_physics_step": 9060 |
| }, |
| { |
| "action_index": 106, |
| "end_physics_step": 9367, |
| "physics_steps": 157, |
| "start_physics_step": 9210 |
| }, |
| { |
| "action_index": 107, |
| "end_physics_step": 9529, |
| "physics_steps": 162, |
| "start_physics_step": 9367 |
| }, |
| { |
| "action_index": 108, |
| "end_physics_step": 9696, |
| "physics_steps": 167, |
| "start_physics_step": 9529 |
| }, |
| { |
| "action_index": 109, |
| "end_physics_step": 9867, |
| "physics_steps": 171, |
| "start_physics_step": 9696 |
| }, |
| { |
| "action_index": 110, |
| "end_physics_step": 10039, |
| "physics_steps": 172, |
| "start_physics_step": 9867 |
| }, |
| { |
| "action_index": 111, |
| "end_physics_step": 10212, |
| "physics_steps": 173, |
| "start_physics_step": 10039 |
| }, |
| { |
| "action_index": 112, |
| "end_physics_step": 10385, |
| "physics_steps": 173, |
| "start_physics_step": 10212 |
| }, |
| { |
| "action_index": 113, |
| "end_physics_step": 10558, |
| "physics_steps": 173, |
| "start_physics_step": 10385 |
| }, |
| { |
| "action_index": 114, |
| "end_physics_step": 10730, |
| "physics_steps": 172, |
| "start_physics_step": 10558 |
| }, |
| { |
| "action_index": 115, |
| "end_physics_step": 10900, |
| "physics_steps": 170, |
| "start_physics_step": 10730 |
| }, |
| { |
| "action_index": 116, |
| "end_physics_step": 11067, |
| "physics_steps": 167, |
| "start_physics_step": 10900 |
| }, |
| { |
| "action_index": 117, |
| "end_physics_step": 11231, |
| "physics_steps": 164, |
| "start_physics_step": 11067 |
| }, |
| { |
| "action_index": 118, |
| "end_physics_step": 11393, |
| "physics_steps": 162, |
| "start_physics_step": 11231 |
| }, |
| { |
| "action_index": 119, |
| "end_physics_step": 11552, |
| "physics_steps": 159, |
| "start_physics_step": 11393 |
| }, |
| { |
| "action_index": 120, |
| "end_physics_step": 11708, |
| "physics_steps": 156, |
| "start_physics_step": 11552 |
| }, |
| { |
| "action_index": 121, |
| "end_physics_step": 11860, |
| "physics_steps": 152, |
| "start_physics_step": 11708 |
| }, |
| { |
| "action_index": 122, |
| "end_physics_step": 12005, |
| "physics_steps": 145, |
| "start_physics_step": 11860 |
| }, |
| { |
| "action_index": 123, |
| "end_physics_step": 12142, |
| "physics_steps": 137, |
| "start_physics_step": 12005 |
| }, |
| { |
| "action_index": 124, |
| "end_physics_step": 12270, |
| "physics_steps": 128, |
| "start_physics_step": 12142 |
| }, |
| { |
| "action_index": 125, |
| "end_physics_step": 12388, |
| "physics_steps": 118, |
| "start_physics_step": 12270 |
| }, |
| { |
| "action_index": 126, |
| "end_physics_step": 12495, |
| "physics_steps": 107, |
| "start_physics_step": 12388 |
| }, |
| { |
| "action_index": 127, |
| "end_physics_step": 12590, |
| "physics_steps": 95, |
| "start_physics_step": 12495 |
| }, |
| { |
| "action_index": 128, |
| "end_physics_step": 12668, |
| "physics_steps": 78, |
| "start_physics_step": 12590 |
| }, |
| { |
| "action_index": 129, |
| "end_physics_step": 12725, |
| "physics_steps": 57, |
| "start_physics_step": 12668 |
| }, |
| { |
| "action_index": 130, |
| "end_physics_step": 12775, |
| "physics_steps": 50, |
| "start_physics_step": 12725 |
| }, |
| { |
| "action_index": 131, |
| "end_physics_step": 12825, |
| "physics_steps": 50, |
| "start_physics_step": 12775 |
| }, |
| { |
| "action_index": 132, |
| "end_physics_step": 12875, |
| "physics_steps": 50, |
| "start_physics_step": 12825 |
| }, |
| { |
| "action_index": 133, |
| "end_physics_step": 12925, |
| "physics_steps": 50, |
| "start_physics_step": 12875 |
| }, |
| { |
| "action_index": 134, |
| "end_physics_step": 12975, |
| "physics_steps": 50, |
| "start_physics_step": 12925 |
| }, |
| { |
| "action_index": 135, |
| "end_physics_step": 13025, |
| "physics_steps": 50, |
| "start_physics_step": 12975 |
| }, |
| { |
| "action_index": 136, |
| "end_physics_step": 13075, |
| "physics_steps": 50, |
| "start_physics_step": 13025 |
| }, |
| { |
| "action_index": 137, |
| "end_physics_step": 13125, |
| "physics_steps": 50, |
| "start_physics_step": 13075 |
| }, |
| { |
| "action_index": 138, |
| "end_physics_step": 13175, |
| "physics_steps": 50, |
| "start_physics_step": 13125 |
| }, |
| { |
| "action_index": 139, |
| "end_physics_step": 13225, |
| "physics_steps": 50, |
| "start_physics_step": 13175 |
| }, |
| { |
| "action_index": 140, |
| "end_physics_step": 13275, |
| "physics_steps": 50, |
| "start_physics_step": 13225 |
| }, |
| { |
| "action_index": 141, |
| "end_physics_step": 13325, |
| "physics_steps": 50, |
| "start_physics_step": 13275 |
| }, |
| { |
| "action_index": 142, |
| "end_physics_step": 13375, |
| "physics_steps": 50, |
| "start_physics_step": 13325 |
| }, |
| { |
| "action_index": 143, |
| "end_physics_step": 13427, |
| "physics_steps": 52, |
| "start_physics_step": 13375 |
| }, |
| { |
| "action_index": 144, |
| "end_physics_step": 13500, |
| "physics_steps": 73, |
| "start_physics_step": 13427 |
| }, |
| { |
| "action_index": 145, |
| "end_physics_step": 13589, |
| "physics_steps": 89, |
| "start_physics_step": 13500 |
| }, |
| { |
| "action_index": 146, |
| "end_physics_step": 13691, |
| "physics_steps": 102, |
| "start_physics_step": 13589 |
| }, |
| { |
| "action_index": 147, |
| "end_physics_step": 13807, |
| "physics_steps": 116, |
| "start_physics_step": 13691 |
| }, |
| { |
| "action_index": 148, |
| "end_physics_step": 13933, |
| "physics_steps": 126, |
| "start_physics_step": 13807 |
| }, |
| { |
| "action_index": 149, |
| "end_physics_step": 14068, |
| "physics_steps": 135, |
| "start_physics_step": 13933 |
| }, |
| { |
| "action_index": 150, |
| "end_physics_step": 14210, |
| "physics_steps": 142, |
| "start_physics_step": 14068 |
| }, |
| { |
| "action_index": 151, |
| "end_physics_step": 14357, |
| "physics_steps": 147, |
| "start_physics_step": 14210 |
| }, |
| { |
| "action_index": 152, |
| "end_physics_step": 14508, |
| "physics_steps": 151, |
| "start_physics_step": 14357 |
| }, |
| { |
| "action_index": 153, |
| "end_physics_step": 14662, |
| "physics_steps": 154, |
| "start_physics_step": 14508 |
| }, |
| { |
| "action_index": 154, |
| "end_physics_step": 14817, |
| "physics_steps": 155, |
| "start_physics_step": 14662 |
| }, |
| { |
| "action_index": 155, |
| "end_physics_step": 14971, |
| "physics_steps": 154, |
| "start_physics_step": 14817 |
| }, |
| { |
| "action_index": 156, |
| "end_physics_step": 15123, |
| "physics_steps": 152, |
| "start_physics_step": 14971 |
| }, |
| { |
| "action_index": 157, |
| "end_physics_step": 15272, |
| "physics_steps": 149, |
| "start_physics_step": 15123 |
| }, |
| { |
| "action_index": 158, |
| "end_physics_step": 15415, |
| "physics_steps": 143, |
| "start_physics_step": 15272 |
| }, |
| { |
| "action_index": 159, |
| "end_physics_step": 15551, |
| "physics_steps": 136, |
| "start_physics_step": 15415 |
| }, |
| { |
| "action_index": 160, |
| "end_physics_step": 15613, |
| "physics_steps": 62, |
| "start_physics_step": 15551 |
| } |
| ], |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", |
| "training_action_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| 0.029372762888669968, |
| -0.019725341349840164, |
| 0.9495008587837219 |
| ], |
| "scanner_functional_point": [ |
| -0.03173504715967965, |
| -0.03723338634292759, |
| 0.9362447896905252, |
| 0.5148503549629373, |
| -0.41124325352623387, |
| 0.6595449126730852, |
| -0.3616747248436752 |
| ] |
| }, |
| "training_action_input_frames": 178, |
| "training_action_interarm_contact_steps": 0, |
| "training_action_minimum_capsule_distance_m": 0.14054138811298944, |
| "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": 15613, |
| "training_actions_executed": 161 |
| } |
|
|
