ctr / scan_object /validation /episode30.json
Shiki42's picture
Upload scan_object centered_fovy90
a27e428 verified
Raw History Blame Contribute Delete
24.8 kB
{
"artifacts_complete": true,
"camera_validation": {
"episode": 30,
"fovy_deg": {
"left": 90.0,
"right": 90.0
},
"frames": 164,
"head_unique_frame_ratio": 0.9573170731707317,
"main_camera_policy": "native_dynamic",
"maximum_mount_distance_error_m": 4.728071884008145e-08,
"maximum_wrist_consecutive_dark_frames": 0,
"maximum_wrist_dark_frame_fraction": 0.0,
"minimum_wrist_median_luminance": 198.59196180555554,
"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": 198.59196180555554,
"right": 201.03716145833334
}
},
"collision_safe": true,
"collision_summary": {
"contact_step_indices": [],
"first_risk_step": null,
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.18641203344313872,
"moves": {
"object_place": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.2102709764896527
},
"scanner_align": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.18641203344313872
},
"scanner_grasp+object_grasp": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.19320281544324502
},
"scanner_lift+object_lift": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.21467887420602172
}
},
"physics_steps_checked": 2176
},
"episode": 30,
"frames": 164,
"plan_success": true,
"renderer_validation": {
"camera_shader": "rt",
"episode": 30,
"ray_tracing_denoiser": "optix",
"status": "passed"
},
"replay_success": true,
"seed": 135,
"source_commits": {
"parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
"robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
"robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
},
"task_specific_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
-0.02922634780406952,
-0.020786123350262642,
0.9502811431884766
],
"scanner_functional_point": [
0.022384917591782027,
-0.012451014958728024,
0.9590536553545548,
0.25802656069975244,
0.6562197411211295,
-0.26356605496956786,
-0.658278725164465
]
},
"task_success": true,
"timing_summary": {
"active_left_frames": 107,
"active_right_frames": 102,
"active_union_frames": 139,
"avoidable_idle_seconds": 2.268,
"frames": 164,
"overlap_frames": 70,
"overlap_ratio_active": 0.5035971223021583,
"overlap_ratio_all": 0.4268292682926829,
"overlap_seconds": 2.3333333333333335,
"seconds": 5.466666666666667,
"true_dependency_wait_seconds": 0.0
},
"training_action_collision_safe": true,
"training_action_count": 163,
"training_action_execution_intervals": [
{
"action_index": 0,
"end_physics_step": 50,
"physics_steps": 50,
"start_physics_step": 0
},
{
"action_index": 1,
"end_physics_step": 60,
"physics_steps": 10,
"start_physics_step": 50
},
{
"action_index": 2,
"end_physics_step": 111,
"physics_steps": 51,
"start_physics_step": 60
},
{
"action_index": 3,
"end_physics_step": 183,
"physics_steps": 72,
"start_physics_step": 111
},
{
"action_index": 4,
"end_physics_step": 272,
"physics_steps": 89,
"start_physics_step": 183
},
{
"action_index": 5,
"end_physics_step": 375,
"physics_steps": 103,
"start_physics_step": 272
},
{
"action_index": 6,
"end_physics_step": 490,
"physics_steps": 115,
"start_physics_step": 375
},
{
"action_index": 7,
"end_physics_step": 615,
"physics_steps": 125,
"start_physics_step": 490
},
{
"action_index": 8,
"end_physics_step": 749,
"physics_steps": 134,
"start_physics_step": 615
},
{
"action_index": 9,
"end_physics_step": 891,
"physics_steps": 142,
"start_physics_step": 749
},
{
"action_index": 10,
"end_physics_step": 1040,
"physics_steps": 149,
"start_physics_step": 891
},
{
"action_index": 11,
"end_physics_step": 1194,
"physics_steps": 154,
"start_physics_step": 1040
},
{
"action_index": 12,
"end_physics_step": 1350,
"physics_steps": 156,
"start_physics_step": 1194
},
{
"action_index": 13,
"end_physics_step": 1510,
"physics_steps": 160,
"start_physics_step": 1350
},
{
"action_index": 14,
"end_physics_step": 1671,
"physics_steps": 161,
"start_physics_step": 1510
},
{
"action_index": 15,
"end_physics_step": 1831,
"physics_steps": 160,
"start_physics_step": 1671
},
{
"action_index": 16,
"end_physics_step": 1990,
"physics_steps": 159,
"start_physics_step": 1831
},
{
"action_index": 17,
"end_physics_step": 2147,
"physics_steps": 157,
"start_physics_step": 1990
},
{
"action_index": 18,
"end_physics_step": 2301,
"physics_steps": 154,
"start_physics_step": 2147
},
{
"action_index": 19,
"end_physics_step": 2451,
"physics_steps": 150,
"start_physics_step": 2301
},
{
"action_index": 20,
"end_physics_step": 2596,
"physics_steps": 145,
"start_physics_step": 2451
},
{
"action_index": 21,
"end_physics_step": 2734,
"physics_steps": 138,
"start_physics_step": 2596
},
{
"action_index": 22,
"end_physics_step": 2864,
"physics_steps": 130,
"start_physics_step": 2734
},
{
"action_index": 23,
"end_physics_step": 2984,
"physics_steps": 120,
"start_physics_step": 2864
},
{
"action_index": 24,
"end_physics_step": 3093,
"physics_steps": 109,
"start_physics_step": 2984
},
{
"action_index": 25,
"end_physics_step": 3189,
"physics_steps": 96,
"start_physics_step": 3093
},
{
"action_index": 26,
"end_physics_step": 3270,
"physics_steps": 81,
"start_physics_step": 3189
},
{
"action_index": 27,
"end_physics_step": 3332,
"physics_steps": 62,
"start_physics_step": 3270
},
{
"action_index": 28,
"end_physics_step": 3369,
"physics_steps": 37,
"start_physics_step": 3332
},
{
"action_index": 29,
"end_physics_step": 3419,
"physics_steps": 50,
"start_physics_step": 3369
},
{
"action_index": 30,
"end_physics_step": 3469,
"physics_steps": 50,
"start_physics_step": 3419
},
{
"action_index": 31,
"end_physics_step": 3519,
"physics_steps": 50,
"start_physics_step": 3469
},
{
"action_index": 32,
"end_physics_step": 3555,
"physics_steps": 36,
"start_physics_step": 3519
},
{
"action_index": 33,
"end_physics_step": 3583,
"physics_steps": 28,
"start_physics_step": 3555
},
{
"action_index": 34,
"end_physics_step": 3639,
"physics_steps": 56,
"start_physics_step": 3583
},
{
"action_index": 35,
"end_physics_step": 3715,
"physics_steps": 76,
"start_physics_step": 3639
},
{
"action_index": 36,
"end_physics_step": 3806,
"physics_steps": 91,
"start_physics_step": 3715
},
{
"action_index": 37,
"end_physics_step": 3908,
"physics_steps": 102,
"start_physics_step": 3806
},
{
"action_index": 38,
"end_physics_step": 4015,
"physics_steps": 107,
"start_physics_step": 3908
},
{
"action_index": 39,
"end_physics_step": 4123,
"physics_steps": 108,
"start_physics_step": 4015
},
{
"action_index": 40,
"end_physics_step": 4226,
"physics_steps": 103,
"start_physics_step": 4123
},
{
"action_index": 41,
"end_physics_step": 4317,
"physics_steps": 91,
"start_physics_step": 4226
},
{
"action_index": 42,
"end_physics_step": 4392,
"physics_steps": 75,
"start_physics_step": 4317
},
{
"action_index": 43,
"end_physics_step": 4447,
"physics_steps": 55,
"start_physics_step": 4392
},
{
"action_index": 44,
"end_physics_step": 4470,
"physics_steps": 23,
"start_physics_step": 4447
},
{
"action_index": 45,
"end_physics_step": 4520,
"physics_steps": 50,
"start_physics_step": 4470
},
{
"action_index": 46,
"end_physics_step": 4570,
"physics_steps": 50,
"start_physics_step": 4520
},
{
"action_index": 47,
"end_physics_step": 4620,
"physics_steps": 50,
"start_physics_step": 4570
},
{
"action_index": 48,
"end_physics_step": 4670,
"physics_steps": 50,
"start_physics_step": 4620
},
{
"action_index": 49,
"end_physics_step": 4720,
"physics_steps": 50,
"start_physics_step": 4670
},
{
"action_index": 50,
"end_physics_step": 4770,
"physics_steps": 50,
"start_physics_step": 4720
},
{
"action_index": 51,
"end_physics_step": 4820,
"physics_steps": 50,
"start_physics_step": 4770
},
{
"action_index": 52,
"end_physics_step": 4870,
"physics_steps": 50,
"start_physics_step": 4820
},
{
"action_index": 53,
"end_physics_step": 4920,
"physics_steps": 50,
"start_physics_step": 4870
},
{
"action_index": 54,
"end_physics_step": 4970,
"physics_steps": 50,
"start_physics_step": 4920
},
{
"action_index": 55,
"end_physics_step": 5020,
"physics_steps": 50,
"start_physics_step": 4970
},
{
"action_index": 56,
"end_physics_step": 5070,
"physics_steps": 50,
"start_physics_step": 5020
},
{
"action_index": 57,
"end_physics_step": 5120,
"physics_steps": 50,
"start_physics_step": 5070
},
{
"action_index": 58,
"end_physics_step": 5170,
"physics_steps": 50,
"start_physics_step": 5120
},
{
"action_index": 59,
"end_physics_step": 5220,
"physics_steps": 50,
"start_physics_step": 5170
},
{
"action_index": 60,
"end_physics_step": 5270,
"physics_steps": 50,
"start_physics_step": 5220
},
{
"action_index": 61,
"end_physics_step": 5320,
"physics_steps": 50,
"start_physics_step": 5270
},
{
"action_index": 62,
"end_physics_step": 5370,
"physics_steps": 50,
"start_physics_step": 5320
},
{
"action_index": 63,
"end_physics_step": 5420,
"physics_steps": 50,
"start_physics_step": 5370
},
{
"action_index": 64,
"end_physics_step": 5470,
"physics_steps": 50,
"start_physics_step": 5420
},
{
"action_index": 65,
"end_physics_step": 5520,
"physics_steps": 50,
"start_physics_step": 5470
},
{
"action_index": 66,
"end_physics_step": 5570,
"physics_steps": 50,
"start_physics_step": 5520
},
{
"action_index": 67,
"end_physics_step": 5620,
"physics_steps": 50,
"start_physics_step": 5570
},
{
"action_index": 68,
"end_physics_step": 5670,
"physics_steps": 50,
"start_physics_step": 5620
},
{
"action_index": 69,
"end_physics_step": 5694,
"physics_steps": 24,
"start_physics_step": 5670
},
{
"action_index": 70,
"end_physics_step": 5720,
"physics_steps": 26,
"start_physics_step": 5694
},
{
"action_index": 71,
"end_physics_step": 5777,
"physics_steps": 57,
"start_physics_step": 5720
},
{
"action_index": 72,
"end_physics_step": 5853,
"physics_steps": 76,
"start_physics_step": 5777
},
{
"action_index": 73,
"end_physics_step": 5945,
"physics_steps": 92,
"start_physics_step": 5853
},
{
"action_index": 74,
"end_physics_step": 6050,
"physics_steps": 105,
"start_physics_step": 5945
},
{
"action_index": 75,
"end_physics_step": 6167,
"physics_steps": 117,
"start_physics_step": 6050
},
{
"action_index": 76,
"end_physics_step": 6291,
"physics_steps": 124,
"start_physics_step": 6167
},
{
"action_index": 77,
"end_physics_step": 6418,
"physics_steps": 127,
"start_physics_step": 6291
},
{
"action_index": 78,
"end_physics_step": 6541,
"physics_steps": 123,
"start_physics_step": 6418
},
{
"action_index": 79,
"end_physics_step": 6655,
"physics_steps": 114,
"start_physics_step": 6541
},
{
"action_index": 80,
"end_physics_step": 6757,
"physics_steps": 102,
"start_physics_step": 6655
},
{
"action_index": 81,
"end_physics_step": 6845,
"physics_steps": 88,
"start_physics_step": 6757
},
{
"action_index": 82,
"end_physics_step": 6916,
"physics_steps": 71,
"start_physics_step": 6845
},
{
"action_index": 83,
"end_physics_step": 6965,
"physics_steps": 49,
"start_physics_step": 6916
},
{
"action_index": 84,
"end_physics_step": 6981,
"physics_steps": 16,
"start_physics_step": 6965
},
{
"action_index": 85,
"end_physics_step": 7031,
"physics_steps": 50,
"start_physics_step": 6981
},
{
"action_index": 86,
"end_physics_step": 7081,
"physics_steps": 50,
"start_physics_step": 7031
},
{
"action_index": 87,
"end_physics_step": 7131,
"physics_steps": 50,
"start_physics_step": 7081
},
{
"action_index": 88,
"end_physics_step": 7181,
"physics_steps": 50,
"start_physics_step": 7131
},
{
"action_index": 89,
"end_physics_step": 7231,
"physics_steps": 50,
"start_physics_step": 7181
},
{
"action_index": 90,
"end_physics_step": 7302,
"physics_steps": 71,
"start_physics_step": 7231
},
{
"action_index": 91,
"end_physics_step": 7389,
"physics_steps": 87,
"start_physics_step": 7302
},
{
"action_index": 92,
"end_physics_step": 7490,
"physics_steps": 101,
"start_physics_step": 7389
},
{
"action_index": 93,
"end_physics_step": 7603,
"physics_steps": 113,
"start_physics_step": 7490
},
{
"action_index": 94,
"end_physics_step": 7725,
"physics_steps": 122,
"start_physics_step": 7603
},
{
"action_index": 95,
"end_physics_step": 7853,
"physics_steps": 128,
"start_physics_step": 7725
},
{
"action_index": 96,
"end_physics_step": 7987,
"physics_steps": 134,
"start_physics_step": 7853
},
{
"action_index": 97,
"end_physics_step": 8126,
"physics_steps": 139,
"start_physics_step": 7987
},
{
"action_index": 98,
"end_physics_step": 8269,
"physics_steps": 143,
"start_physics_step": 8126
},
{
"action_index": 99,
"end_physics_step": 8416,
"physics_steps": 147,
"start_physics_step": 8269
},
{
"action_index": 100,
"end_physics_step": 8567,
"physics_steps": 151,
"start_physics_step": 8416
},
{
"action_index": 101,
"end_physics_step": 8723,
"physics_steps": 156,
"start_physics_step": 8567
},
{
"action_index": 102,
"end_physics_step": 8883,
"physics_steps": 160,
"start_physics_step": 8723
},
{
"action_index": 103,
"end_physics_step": 9046,
"physics_steps": 163,
"start_physics_step": 8883
},
{
"action_index": 104,
"end_physics_step": 9211,
"physics_steps": 165,
"start_physics_step": 9046
},
{
"action_index": 105,
"end_physics_step": 9377,
"physics_steps": 166,
"start_physics_step": 9211
},
{
"action_index": 106,
"end_physics_step": 9544,
"physics_steps": 167,
"start_physics_step": 9377
},
{
"action_index": 107,
"end_physics_step": 9710,
"physics_steps": 166,
"start_physics_step": 9544
},
{
"action_index": 108,
"end_physics_step": 9875,
"physics_steps": 165,
"start_physics_step": 9710
},
{
"action_index": 109,
"end_physics_step": 10037,
"physics_steps": 162,
"start_physics_step": 9875
},
{
"action_index": 110,
"end_physics_step": 10194,
"physics_steps": 157,
"start_physics_step": 10037
},
{
"action_index": 111,
"end_physics_step": 10345,
"physics_steps": 151,
"start_physics_step": 10194
},
{
"action_index": 112,
"end_physics_step": 10486,
"physics_steps": 141,
"start_physics_step": 10345
},
{
"action_index": 113,
"end_physics_step": 10618,
"physics_steps": 132,
"start_physics_step": 10486
},
{
"action_index": 114,
"end_physics_step": 10740,
"physics_steps": 122,
"start_physics_step": 10618
},
{
"action_index": 115,
"end_physics_step": 10851,
"physics_steps": 111,
"start_physics_step": 10740
},
{
"action_index": 116,
"end_physics_step": 10949,
"physics_steps": 98,
"start_physics_step": 10851
},
{
"action_index": 117,
"end_physics_step": 11033,
"physics_steps": 84,
"start_physics_step": 10949
},
{
"action_index": 118,
"end_physics_step": 11099,
"physics_steps": 66,
"start_physics_step": 11033
},
{
"action_index": 119,
"end_physics_step": 11149,
"physics_steps": 50,
"start_physics_step": 11099
},
{
"action_index": 120,
"end_physics_step": 11199,
"physics_steps": 50,
"start_physics_step": 11149
},
{
"action_index": 121,
"end_physics_step": 11249,
"physics_steps": 50,
"start_physics_step": 11199
},
{
"action_index": 122,
"end_physics_step": 11299,
"physics_steps": 50,
"start_physics_step": 11249
},
{
"action_index": 123,
"end_physics_step": 11349,
"physics_steps": 50,
"start_physics_step": 11299
},
{
"action_index": 124,
"end_physics_step": 11399,
"physics_steps": 50,
"start_physics_step": 11349
},
{
"action_index": 125,
"end_physics_step": 11449,
"physics_steps": 50,
"start_physics_step": 11399
},
{
"action_index": 126,
"end_physics_step": 11499,
"physics_steps": 50,
"start_physics_step": 11449
},
{
"action_index": 127,
"end_physics_step": 11549,
"physics_steps": 50,
"start_physics_step": 11499
},
{
"action_index": 128,
"end_physics_step": 11599,
"physics_steps": 50,
"start_physics_step": 11549
},
{
"action_index": 129,
"end_physics_step": 11649,
"physics_steps": 50,
"start_physics_step": 11599
},
{
"action_index": 130,
"end_physics_step": 11699,
"physics_steps": 50,
"start_physics_step": 11649
},
{
"action_index": 131,
"end_physics_step": 11752,
"physics_steps": 53,
"start_physics_step": 11699
},
{
"action_index": 132,
"end_physics_step": 11825,
"physics_steps": 73,
"start_physics_step": 11752
},
{
"action_index": 133,
"end_physics_step": 11914,
"physics_steps": 89,
"start_physics_step": 11825
},
{
"action_index": 134,
"end_physics_step": 12018,
"physics_steps": 104,
"start_physics_step": 11914
},
{
"action_index": 135,
"end_physics_step": 12133,
"physics_steps": 115,
"start_physics_step": 12018
},
{
"action_index": 136,
"end_physics_step": 12257,
"physics_steps": 124,
"start_physics_step": 12133
},
{
"action_index": 137,
"end_physics_step": 12389,
"physics_steps": 132,
"start_physics_step": 12257
},
{
"action_index": 138,
"end_physics_step": 12529,
"physics_steps": 140,
"start_physics_step": 12389
},
{
"action_index": 139,
"end_physics_step": 12674,
"physics_steps": 145,
"start_physics_step": 12529
},
{
"action_index": 140,
"end_physics_step": 12824,
"physics_steps": 150,
"start_physics_step": 12674
},
{
"action_index": 141,
"end_physics_step": 12976,
"physics_steps": 152,
"start_physics_step": 12824
},
{
"action_index": 142,
"end_physics_step": 13129,
"physics_steps": 153,
"start_physics_step": 12976
},
{
"action_index": 143,
"end_physics_step": 13281,
"physics_steps": 152,
"start_physics_step": 13129
},
{
"action_index": 144,
"end_physics_step": 13431,
"physics_steps": 150,
"start_physics_step": 13281
},
{
"action_index": 145,
"end_physics_step": 13577,
"physics_steps": 146,
"start_physics_step": 13431
},
{
"action_index": 146,
"end_physics_step": 13715,
"physics_steps": 138,
"start_physics_step": 13577
},
{
"action_index": 147,
"end_physics_step": 13843,
"physics_steps": 128,
"start_physics_step": 13715
},
{
"action_index": 148,
"end_physics_step": 13871,
"physics_steps": 28,
"start_physics_step": 13843
}
],
"training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
"training_action_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
-0.03065558895468712,
-0.020119618624448776,
0.9504560828208923
],
"scanner_functional_point": [
0.030899462036923352,
-0.01410653880024313,
0.9357827422058165,
0.23416480330756262,
0.7068155764138202,
-0.29855997526007083,
-0.5970264039415981
]
},
"training_action_input_frames": 164,
"training_action_interarm_contact_steps": 0,
"training_action_minimum_capsule_distance_m": 0.19219522512763196,
"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": 13871,
"training_actions_executed": 149
}