ctr / scan_object /validation /episode3.json
Shiki42's picture
Upload scan_object centered_fovy90
a27e428 verified
Raw History Blame Contribute Delete
24.5 kB
{
"artifacts_complete": true,
"camera_validation": {
"episode": 3,
"fovy_deg": {
"left": 90.0,
"right": 90.0
},
"frames": 161,
"head_unique_frame_ratio": 0.9565217391304348,
"main_camera_policy": "native_dynamic",
"maximum_mount_distance_error_m": 4.5180279531487066e-08,
"maximum_wrist_consecutive_dark_frames": 0,
"maximum_wrist_dark_frame_fraction": 0.0,
"minimum_wrist_median_luminance": 196.55395833333333,
"parallel_head_unique_frame_ratio": 0.9651162790697675,
"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": 196.55395833333333,
"right": 199.60958767361112
}
},
"collision_safe": true,
"collision_summary": {
"contact_step_indices": [],
"first_risk_step": 384,
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.0511319456831209,
"moves": {
"object_place": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.09115749850445248
},
"scanner_align": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.17065366856137607
},
"scanner_grasp+object_grasp": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.0511319456831209
},
"scanner_lift+object_lift": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.05824579810302093
}
},
"physics_steps_checked": 2143
},
"episode": 3,
"frames": 161,
"plan_success": true,
"renderer_validation": {
"camera_shader": "rt",
"episode": 3,
"ray_tracing_denoiser": "optix",
"status": "passed"
},
"replay_success": true,
"seed": 7,
"source_commits": {
"parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
"robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
"robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
},
"task_specific_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
-0.02922794036567211,
-0.020743295550346375,
0.9503625631332397
],
"scanner_functional_point": [
0.01896100253950692,
-0.01338747673178773,
0.9571764921621166,
0.2884562350689455,
0.6456958717078429,
-0.2884484247070307,
-0.6454977521210514
]
},
"task_success": true,
"timing_summary": {
"active_left_frames": 106,
"active_right_frames": 101,
"active_union_frames": 137,
"avoidable_idle_seconds": 2.172,
"frames": 161,
"overlap_frames": 70,
"overlap_ratio_active": 0.5109489051094891,
"overlap_ratio_all": 0.43478260869565216,
"overlap_seconds": 2.3333333333333335,
"seconds": 5.366666666666666,
"true_dependency_wait_seconds": 0.0
},
"training_action_collision_safe": true,
"training_action_count": 160,
"training_action_execution_intervals": [
{
"action_index": 0,
"end_physics_step": 50,
"physics_steps": 50,
"start_physics_step": 0
},
{
"action_index": 1,
"end_physics_step": 59,
"physics_steps": 9,
"start_physics_step": 50
},
{
"action_index": 2,
"end_physics_step": 110,
"physics_steps": 51,
"start_physics_step": 59
},
{
"action_index": 3,
"end_physics_step": 182,
"physics_steps": 72,
"start_physics_step": 110
},
{
"action_index": 4,
"end_physics_step": 271,
"physics_steps": 89,
"start_physics_step": 182
},
{
"action_index": 5,
"end_physics_step": 374,
"physics_steps": 103,
"start_physics_step": 271
},
{
"action_index": 6,
"end_physics_step": 489,
"physics_steps": 115,
"start_physics_step": 374
},
{
"action_index": 7,
"end_physics_step": 614,
"physics_steps": 125,
"start_physics_step": 489
},
{
"action_index": 8,
"end_physics_step": 747,
"physics_steps": 133,
"start_physics_step": 614
},
{
"action_index": 9,
"end_physics_step": 887,
"physics_steps": 140,
"start_physics_step": 747
},
{
"action_index": 10,
"end_physics_step": 1033,
"physics_steps": 146,
"start_physics_step": 887
},
{
"action_index": 11,
"end_physics_step": 1183,
"physics_steps": 150,
"start_physics_step": 1033
},
{
"action_index": 12,
"end_physics_step": 1337,
"physics_steps": 154,
"start_physics_step": 1183
},
{
"action_index": 13,
"end_physics_step": 1493,
"physics_steps": 156,
"start_physics_step": 1337
},
{
"action_index": 14,
"end_physics_step": 1650,
"physics_steps": 157,
"start_physics_step": 1493
},
{
"action_index": 15,
"end_physics_step": 1808,
"physics_steps": 158,
"start_physics_step": 1650
},
{
"action_index": 16,
"end_physics_step": 1965,
"physics_steps": 157,
"start_physics_step": 1808
},
{
"action_index": 17,
"end_physics_step": 2121,
"physics_steps": 156,
"start_physics_step": 1965
},
{
"action_index": 18,
"end_physics_step": 2274,
"physics_steps": 153,
"start_physics_step": 2121
},
{
"action_index": 19,
"end_physics_step": 2424,
"physics_steps": 150,
"start_physics_step": 2274
},
{
"action_index": 20,
"end_physics_step": 2569,
"physics_steps": 145,
"start_physics_step": 2424
},
{
"action_index": 21,
"end_physics_step": 2709,
"physics_steps": 140,
"start_physics_step": 2569
},
{
"action_index": 22,
"end_physics_step": 2841,
"physics_steps": 132,
"start_physics_step": 2709
},
{
"action_index": 23,
"end_physics_step": 2965,
"physics_steps": 124,
"start_physics_step": 2841
},
{
"action_index": 24,
"end_physics_step": 3078,
"physics_steps": 113,
"start_physics_step": 2965
},
{
"action_index": 25,
"end_physics_step": 3179,
"physics_steps": 101,
"start_physics_step": 3078
},
{
"action_index": 26,
"end_physics_step": 3265,
"physics_steps": 86,
"start_physics_step": 3179
},
{
"action_index": 27,
"end_physics_step": 3334,
"physics_steps": 69,
"start_physics_step": 3265
},
{
"action_index": 28,
"end_physics_step": 3379,
"physics_steps": 45,
"start_physics_step": 3334
},
{
"action_index": 29,
"end_physics_step": 3429,
"physics_steps": 50,
"start_physics_step": 3379
},
{
"action_index": 30,
"end_physics_step": 3479,
"physics_steps": 50,
"start_physics_step": 3429
},
{
"action_index": 31,
"end_physics_step": 3529,
"physics_steps": 50,
"start_physics_step": 3479
},
{
"action_index": 32,
"end_physics_step": 3563,
"physics_steps": 34,
"start_physics_step": 3529
},
{
"action_index": 33,
"end_physics_step": 3591,
"physics_steps": 28,
"start_physics_step": 3563
},
{
"action_index": 34,
"end_physics_step": 3648,
"physics_steps": 57,
"start_physics_step": 3591
},
{
"action_index": 35,
"end_physics_step": 3723,
"physics_steps": 75,
"start_physics_step": 3648
},
{
"action_index": 36,
"end_physics_step": 3811,
"physics_steps": 88,
"start_physics_step": 3723
},
{
"action_index": 37,
"end_physics_step": 3913,
"physics_steps": 102,
"start_physics_step": 3811
},
{
"action_index": 38,
"end_physics_step": 4021,
"physics_steps": 108,
"start_physics_step": 3913
},
{
"action_index": 39,
"end_physics_step": 4125,
"physics_steps": 104,
"start_physics_step": 4021
},
{
"action_index": 40,
"end_physics_step": 4226,
"physics_steps": 101,
"start_physics_step": 4125
},
{
"action_index": 41,
"end_physics_step": 4315,
"physics_steps": 89,
"start_physics_step": 4226
},
{
"action_index": 42,
"end_physics_step": 4388,
"physics_steps": 73,
"start_physics_step": 4315
},
{
"action_index": 43,
"end_physics_step": 4440,
"physics_steps": 52,
"start_physics_step": 4388
},
{
"action_index": 44,
"end_physics_step": 4458,
"physics_steps": 18,
"start_physics_step": 4440
},
{
"action_index": 45,
"end_physics_step": 4508,
"physics_steps": 50,
"start_physics_step": 4458
},
{
"action_index": 46,
"end_physics_step": 4558,
"physics_steps": 50,
"start_physics_step": 4508
},
{
"action_index": 47,
"end_physics_step": 4608,
"physics_steps": 50,
"start_physics_step": 4558
},
{
"action_index": 48,
"end_physics_step": 4658,
"physics_steps": 50,
"start_physics_step": 4608
},
{
"action_index": 49,
"end_physics_step": 4708,
"physics_steps": 50,
"start_physics_step": 4658
},
{
"action_index": 50,
"end_physics_step": 4758,
"physics_steps": 50,
"start_physics_step": 4708
},
{
"action_index": 51,
"end_physics_step": 4808,
"physics_steps": 50,
"start_physics_step": 4758
},
{
"action_index": 52,
"end_physics_step": 4858,
"physics_steps": 50,
"start_physics_step": 4808
},
{
"action_index": 53,
"end_physics_step": 4908,
"physics_steps": 50,
"start_physics_step": 4858
},
{
"action_index": 54,
"end_physics_step": 4958,
"physics_steps": 50,
"start_physics_step": 4908
},
{
"action_index": 55,
"end_physics_step": 5008,
"physics_steps": 50,
"start_physics_step": 4958
},
{
"action_index": 56,
"end_physics_step": 5058,
"physics_steps": 50,
"start_physics_step": 5008
},
{
"action_index": 57,
"end_physics_step": 5108,
"physics_steps": 50,
"start_physics_step": 5058
},
{
"action_index": 58,
"end_physics_step": 5158,
"physics_steps": 50,
"start_physics_step": 5108
},
{
"action_index": 59,
"end_physics_step": 5208,
"physics_steps": 50,
"start_physics_step": 5158
},
{
"action_index": 60,
"end_physics_step": 5258,
"physics_steps": 50,
"start_physics_step": 5208
},
{
"action_index": 61,
"end_physics_step": 5308,
"physics_steps": 50,
"start_physics_step": 5258
},
{
"action_index": 62,
"end_physics_step": 5358,
"physics_steps": 50,
"start_physics_step": 5308
},
{
"action_index": 63,
"end_physics_step": 5408,
"physics_steps": 50,
"start_physics_step": 5358
},
{
"action_index": 64,
"end_physics_step": 5458,
"physics_steps": 50,
"start_physics_step": 5408
},
{
"action_index": 65,
"end_physics_step": 5508,
"physics_steps": 50,
"start_physics_step": 5458
},
{
"action_index": 66,
"end_physics_step": 5558,
"physics_steps": 50,
"start_physics_step": 5508
},
{
"action_index": 67,
"end_physics_step": 5608,
"physics_steps": 50,
"start_physics_step": 5558
},
{
"action_index": 68,
"end_physics_step": 5658,
"physics_steps": 50,
"start_physics_step": 5608
},
{
"action_index": 69,
"end_physics_step": 5677,
"physics_steps": 19,
"start_physics_step": 5658
},
{
"action_index": 70,
"end_physics_step": 5703,
"physics_steps": 26,
"start_physics_step": 5677
},
{
"action_index": 71,
"end_physics_step": 5760,
"physics_steps": 57,
"start_physics_step": 5703
},
{
"action_index": 72,
"end_physics_step": 5837,
"physics_steps": 77,
"start_physics_step": 5760
},
{
"action_index": 73,
"end_physics_step": 5929,
"physics_steps": 92,
"start_physics_step": 5837
},
{
"action_index": 74,
"end_physics_step": 6033,
"physics_steps": 104,
"start_physics_step": 5929
},
{
"action_index": 75,
"end_physics_step": 6149,
"physics_steps": 116,
"start_physics_step": 6033
},
{
"action_index": 76,
"end_physics_step": 6271,
"physics_steps": 122,
"start_physics_step": 6149
},
{
"action_index": 77,
"end_physics_step": 6394,
"physics_steps": 123,
"start_physics_step": 6271
},
{
"action_index": 78,
"end_physics_step": 6514,
"physics_steps": 120,
"start_physics_step": 6394
},
{
"action_index": 79,
"end_physics_step": 6625,
"physics_steps": 111,
"start_physics_step": 6514
},
{
"action_index": 80,
"end_physics_step": 6723,
"physics_steps": 98,
"start_physics_step": 6625
},
{
"action_index": 81,
"end_physics_step": 6807,
"physics_steps": 84,
"start_physics_step": 6723
},
{
"action_index": 82,
"end_physics_step": 6874,
"physics_steps": 67,
"start_physics_step": 6807
},
{
"action_index": 83,
"end_physics_step": 6916,
"physics_steps": 42,
"start_physics_step": 6874
},
{
"action_index": 84,
"end_physics_step": 6966,
"physics_steps": 50,
"start_physics_step": 6916
},
{
"action_index": 85,
"end_physics_step": 7016,
"physics_steps": 50,
"start_physics_step": 6966
},
{
"action_index": 86,
"end_physics_step": 7066,
"physics_steps": 50,
"start_physics_step": 7016
},
{
"action_index": 87,
"end_physics_step": 7116,
"physics_steps": 50,
"start_physics_step": 7066
},
{
"action_index": 88,
"end_physics_step": 7166,
"physics_steps": 50,
"start_physics_step": 7116
},
{
"action_index": 89,
"end_physics_step": 7237,
"physics_steps": 71,
"start_physics_step": 7166
},
{
"action_index": 90,
"end_physics_step": 7325,
"physics_steps": 88,
"start_physics_step": 7237
},
{
"action_index": 91,
"end_physics_step": 7426,
"physics_steps": 101,
"start_physics_step": 7325
},
{
"action_index": 92,
"end_physics_step": 7539,
"physics_steps": 113,
"start_physics_step": 7426
},
{
"action_index": 93,
"end_physics_step": 7660,
"physics_steps": 121,
"start_physics_step": 7539
},
{
"action_index": 94,
"end_physics_step": 7787,
"physics_steps": 127,
"start_physics_step": 7660
},
{
"action_index": 95,
"end_physics_step": 7919,
"physics_steps": 132,
"start_physics_step": 7787
},
{
"action_index": 96,
"end_physics_step": 8055,
"physics_steps": 136,
"start_physics_step": 7919
},
{
"action_index": 97,
"end_physics_step": 8195,
"physics_steps": 140,
"start_physics_step": 8055
},
{
"action_index": 98,
"end_physics_step": 8339,
"physics_steps": 144,
"start_physics_step": 8195
},
{
"action_index": 99,
"end_physics_step": 8487,
"physics_steps": 148,
"start_physics_step": 8339
},
{
"action_index": 100,
"end_physics_step": 8639,
"physics_steps": 152,
"start_physics_step": 8487
},
{
"action_index": 101,
"end_physics_step": 8795,
"physics_steps": 156,
"start_physics_step": 8639
},
{
"action_index": 102,
"end_physics_step": 8954,
"physics_steps": 159,
"start_physics_step": 8795
},
{
"action_index": 103,
"end_physics_step": 9115,
"physics_steps": 161,
"start_physics_step": 8954
},
{
"action_index": 104,
"end_physics_step": 9276,
"physics_steps": 161,
"start_physics_step": 9115
},
{
"action_index": 105,
"end_physics_step": 9437,
"physics_steps": 161,
"start_physics_step": 9276
},
{
"action_index": 106,
"end_physics_step": 9596,
"physics_steps": 159,
"start_physics_step": 9437
},
{
"action_index": 107,
"end_physics_step": 9753,
"physics_steps": 157,
"start_physics_step": 9596
},
{
"action_index": 108,
"end_physics_step": 9906,
"physics_steps": 153,
"start_physics_step": 9753
},
{
"action_index": 109,
"end_physics_step": 10053,
"physics_steps": 147,
"start_physics_step": 9906
},
{
"action_index": 110,
"end_physics_step": 10192,
"physics_steps": 139,
"start_physics_step": 10053
},
{
"action_index": 111,
"end_physics_step": 10321,
"physics_steps": 129,
"start_physics_step": 10192
},
{
"action_index": 112,
"end_physics_step": 10439,
"physics_steps": 118,
"start_physics_step": 10321
},
{
"action_index": 113,
"end_physics_step": 10546,
"physics_steps": 107,
"start_physics_step": 10439
},
{
"action_index": 114,
"end_physics_step": 10640,
"physics_steps": 94,
"start_physics_step": 10546
},
{
"action_index": 115,
"end_physics_step": 10718,
"physics_steps": 78,
"start_physics_step": 10640
},
{
"action_index": 116,
"end_physics_step": 10777,
"physics_steps": 59,
"start_physics_step": 10718
},
{
"action_index": 117,
"end_physics_step": 10827,
"physics_steps": 50,
"start_physics_step": 10777
},
{
"action_index": 118,
"end_physics_step": 10877,
"physics_steps": 50,
"start_physics_step": 10827
},
{
"action_index": 119,
"end_physics_step": 10927,
"physics_steps": 50,
"start_physics_step": 10877
},
{
"action_index": 120,
"end_physics_step": 10977,
"physics_steps": 50,
"start_physics_step": 10927
},
{
"action_index": 121,
"end_physics_step": 11027,
"physics_steps": 50,
"start_physics_step": 10977
},
{
"action_index": 122,
"end_physics_step": 11077,
"physics_steps": 50,
"start_physics_step": 11027
},
{
"action_index": 123,
"end_physics_step": 11127,
"physics_steps": 50,
"start_physics_step": 11077
},
{
"action_index": 124,
"end_physics_step": 11177,
"physics_steps": 50,
"start_physics_step": 11127
},
{
"action_index": 125,
"end_physics_step": 11227,
"physics_steps": 50,
"start_physics_step": 11177
},
{
"action_index": 126,
"end_physics_step": 11277,
"physics_steps": 50,
"start_physics_step": 11227
},
{
"action_index": 127,
"end_physics_step": 11327,
"physics_steps": 50,
"start_physics_step": 11277
},
{
"action_index": 128,
"end_physics_step": 11377,
"physics_steps": 50,
"start_physics_step": 11327
},
{
"action_index": 129,
"end_physics_step": 11429,
"physics_steps": 52,
"start_physics_step": 11377
},
{
"action_index": 130,
"end_physics_step": 11502,
"physics_steps": 73,
"start_physics_step": 11429
},
{
"action_index": 131,
"end_physics_step": 11591,
"physics_steps": 89,
"start_physics_step": 11502
},
{
"action_index": 132,
"end_physics_step": 11693,
"physics_steps": 102,
"start_physics_step": 11591
},
{
"action_index": 133,
"end_physics_step": 11808,
"physics_steps": 115,
"start_physics_step": 11693
},
{
"action_index": 134,
"end_physics_step": 11933,
"physics_steps": 125,
"start_physics_step": 11808
},
{
"action_index": 135,
"end_physics_step": 12066,
"physics_steps": 133,
"start_physics_step": 11933
},
{
"action_index": 136,
"end_physics_step": 12205,
"physics_steps": 139,
"start_physics_step": 12066
},
{
"action_index": 137,
"end_physics_step": 12350,
"physics_steps": 145,
"start_physics_step": 12205
},
{
"action_index": 138,
"end_physics_step": 12500,
"physics_steps": 150,
"start_physics_step": 12350
},
{
"action_index": 139,
"end_physics_step": 12653,
"physics_steps": 153,
"start_physics_step": 12500
},
{
"action_index": 140,
"end_physics_step": 12807,
"physics_steps": 154,
"start_physics_step": 12653
},
{
"action_index": 141,
"end_physics_step": 12961,
"physics_steps": 154,
"start_physics_step": 12807
},
{
"action_index": 142,
"end_physics_step": 13114,
"physics_steps": 153,
"start_physics_step": 12961
},
{
"action_index": 143,
"end_physics_step": 13264,
"physics_steps": 150,
"start_physics_step": 13114
},
{
"action_index": 144,
"end_physics_step": 13408,
"physics_steps": 144,
"start_physics_step": 13264
},
{
"action_index": 145,
"end_physics_step": 13545,
"physics_steps": 137,
"start_physics_step": 13408
},
{
"action_index": 146,
"end_physics_step": 13656,
"physics_steps": 111,
"start_physics_step": 13545
}
],
"training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
"training_action_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
-0.030373599380254745,
-0.020045218989253044,
0.9507079124450684
],
"scanner_functional_point": [
0.005295057708008245,
-0.037815730727248816,
0.930809522422004,
0.3246070182395549,
0.6901313618862769,
-0.3277244249146267,
-0.5576250428065396
]
},
"training_action_input_frames": 161,
"training_action_interarm_contact_steps": 0,
"training_action_minimum_capsule_distance_m": 0.05089260315901172,
"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": 13656,
"training_actions_executed": 147
}