Download scan_object/validation/episode31.json from Shiki42/ctr: direct link, hf CLI and curl.
- Browser
- Download file 27.2 kB
-
https://huggingface.co/datasets/Shiki42/ctr/resolve/main/scan_object/validation/episode31.json
- Command line
-
hf download hf://datasets/Shiki42/ctr/scan_object/validation/episode31.json
-
curl -L -o episode31.json https://huggingface.co/datasets/Shiki42/ctr/resolve/main/scan_object/validation/episode31.json
27.2 kB
| { | |
| "artifacts_complete": true, | |
| "camera_validation": { | |
| "episode": 31, | |
| "fovy_deg": { | |
| "left": 90.0, | |
| "right": 90.0 | |
| }, | |
| "frames": 181, | |
| "head_unique_frame_ratio": 0.9558011049723757, | |
| "main_camera_policy": "native_dynamic", | |
| "maximum_mount_distance_error_m": 4.322918141508314e-08, | |
| "maximum_wrist_consecutive_dark_frames": 0, | |
| "maximum_wrist_dark_frame_fraction": 0.0, | |
| "minimum_wrist_median_luminance": 200.75314236111112, | |
| "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": 200.75314236111112, | |
| "right": 207.33747395833333 | |
| } | |
| }, | |
| "collision_safe": true, | |
| "collision_summary": { | |
| "contact_step_indices": [], | |
| "first_risk_step": null, | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.1171975329030652, | |
| "moves": { | |
| "object_place": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.18723922240968474 | |
| }, | |
| "scanner_align": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.14452225242452604 | |
| }, | |
| "scanner_grasp+object_grasp": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.1171975329030652 | |
| }, | |
| "scanner_lift+object_lift": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.15574685020021237 | |
| } | |
| }, | |
| "physics_steps_checked": 2431 | |
| }, | |
| "episode": 31, | |
| "frames": 181, | |
| "plan_success": true, | |
| "renderer_validation": { | |
| "camera_shader": "rt", | |
| "episode": 31, | |
| "ray_tracing_denoiser": "optix", | |
| "status": "passed" | |
| }, | |
| "replay_success": true, | |
| "seed": 138, | |
| "source_commits": { | |
| "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", | |
| "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", | |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" | |
| }, | |
| "task_specific_final_state": { | |
| "grippers": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "object_position": [ | |
| 0.030786767601966858, | |
| -0.019248321652412415, | |
| 0.9496618509292603 | |
| ], | |
| "scanner_functional_point": [ | |
| -0.01676322714193077, | |
| -0.016329588118448514, | |
| 0.9492556998516909, | |
| 0.5215816373882802, | |
| -0.4744447908781673, | |
| 0.5247017841196538, | |
| -0.47701443761125784 | |
| ] | |
| }, | |
| "task_success": true, | |
| "timing_summary": { | |
| "active_left_frames": 105, | |
| "active_right_frames": 120, | |
| "active_union_frames": 154, | |
| "avoidable_idle_seconds": 3.008, | |
| "frames": 181, | |
| "overlap_frames": 71, | |
| "overlap_ratio_active": 0.461038961038961, | |
| "overlap_ratio_all": 0.39226519337016574, | |
| "overlap_seconds": 2.3666666666666667, | |
| "seconds": 6.033333333333333, | |
| "true_dependency_wait_seconds": 0.0 | |
| }, | |
| "training_action_collision_safe": true, | |
| "training_action_count": 180, | |
| "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": 1077, | |
| "physics_steps": 150, | |
| "start_physics_step": 927 | |
| }, | |
| { | |
| "action_index": 11, | |
| "end_physics_step": 1232, | |
| "physics_steps": 155, | |
| "start_physics_step": 1077 | |
| }, | |
| { | |
| "action_index": 12, | |
| "end_physics_step": 1391, | |
| "physics_steps": 159, | |
| "start_physics_step": 1232 | |
| }, | |
| { | |
| "action_index": 13, | |
| "end_physics_step": 1553, | |
| "physics_steps": 162, | |
| "start_physics_step": 1391 | |
| }, | |
| { | |
| "action_index": 14, | |
| "end_physics_step": 1717, | |
| "physics_steps": 164, | |
| "start_physics_step": 1553 | |
| }, | |
| { | |
| "action_index": 15, | |
| "end_physics_step": 1883, | |
| "physics_steps": 166, | |
| "start_physics_step": 1717 | |
| }, | |
| { | |
| "action_index": 16, | |
| "end_physics_step": 2050, | |
| "physics_steps": 167, | |
| "start_physics_step": 1883 | |
| }, | |
| { | |
| "action_index": 17, | |
| "end_physics_step": 2217, | |
| "physics_steps": 167, | |
| "start_physics_step": 2050 | |
| }, | |
| { | |
| "action_index": 18, | |
| "end_physics_step": 2383, | |
| "physics_steps": 166, | |
| "start_physics_step": 2217 | |
| }, | |
| { | |
| "action_index": 19, | |
| "end_physics_step": 2547, | |
| "physics_steps": 164, | |
| "start_physics_step": 2383 | |
| }, | |
| { | |
| "action_index": 20, | |
| "end_physics_step": 2707, | |
| "physics_steps": 160, | |
| "start_physics_step": 2547 | |
| }, | |
| { | |
| "action_index": 21, | |
| "end_physics_step": 2864, | |
| "physics_steps": 157, | |
| "start_physics_step": 2707 | |
| }, | |
| { | |
| "action_index": 22, | |
| "end_physics_step": 3016, | |
| "physics_steps": 152, | |
| "start_physics_step": 2864 | |
| }, | |
| { | |
| "action_index": 23, | |
| "end_physics_step": 3162, | |
| "physics_steps": 146, | |
| "start_physics_step": 3016 | |
| }, | |
| { | |
| "action_index": 24, | |
| "end_physics_step": 3302, | |
| "physics_steps": 140, | |
| "start_physics_step": 3162 | |
| }, | |
| { | |
| "action_index": 25, | |
| "end_physics_step": 3434, | |
| "physics_steps": 132, | |
| "start_physics_step": 3302 | |
| }, | |
| { | |
| "action_index": 26, | |
| "end_physics_step": 3556, | |
| "physics_steps": 122, | |
| "start_physics_step": 3434 | |
| }, | |
| { | |
| "action_index": 27, | |
| "end_physics_step": 3667, | |
| "physics_steps": 111, | |
| "start_physics_step": 3556 | |
| }, | |
| { | |
| "action_index": 28, | |
| "end_physics_step": 3765, | |
| "physics_steps": 98, | |
| "start_physics_step": 3667 | |
| }, | |
| { | |
| "action_index": 29, | |
| "end_physics_step": 3849, | |
| "physics_steps": 84, | |
| "start_physics_step": 3765 | |
| }, | |
| { | |
| "action_index": 30, | |
| "end_physics_step": 3915, | |
| "physics_steps": 66, | |
| "start_physics_step": 3849 | |
| }, | |
| { | |
| "action_index": 31, | |
| "end_physics_step": 3957, | |
| "physics_steps": 42, | |
| "start_physics_step": 3915 | |
| }, | |
| { | |
| "action_index": 32, | |
| "end_physics_step": 4007, | |
| "physics_steps": 50, | |
| "start_physics_step": 3957 | |
| }, | |
| { | |
| "action_index": 33, | |
| "end_physics_step": 4057, | |
| "physics_steps": 50, | |
| "start_physics_step": 4007 | |
| }, | |
| { | |
| "action_index": 34, | |
| "end_physics_step": 4107, | |
| "physics_steps": 50, | |
| "start_physics_step": 4057 | |
| }, | |
| { | |
| "action_index": 35, | |
| "end_physics_step": 4144, | |
| "physics_steps": 37, | |
| "start_physics_step": 4107 | |
| }, | |
| { | |
| "action_index": 36, | |
| "end_physics_step": 4172, | |
| "physics_steps": 28, | |
| "start_physics_step": 4144 | |
| }, | |
| { | |
| "action_index": 37, | |
| "end_physics_step": 4230, | |
| "physics_steps": 58, | |
| "start_physics_step": 4172 | |
| }, | |
| { | |
| "action_index": 38, | |
| "end_physics_step": 4306, | |
| "physics_steps": 76, | |
| "start_physics_step": 4230 | |
| }, | |
| { | |
| "action_index": 39, | |
| "end_physics_step": 4397, | |
| "physics_steps": 91, | |
| "start_physics_step": 4306 | |
| }, | |
| { | |
| "action_index": 40, | |
| "end_physics_step": 4500, | |
| "physics_steps": 103, | |
| "start_physics_step": 4397 | |
| }, | |
| { | |
| "action_index": 41, | |
| "end_physics_step": 4606, | |
| "physics_steps": 106, | |
| "start_physics_step": 4500 | |
| }, | |
| { | |
| "action_index": 42, | |
| "end_physics_step": 4711, | |
| "physics_steps": 105, | |
| "start_physics_step": 4606 | |
| }, | |
| { | |
| "action_index": 43, | |
| "end_physics_step": 4806, | |
| "physics_steps": 95, | |
| "start_physics_step": 4711 | |
| }, | |
| { | |
| "action_index": 44, | |
| "end_physics_step": 4886, | |
| "physics_steps": 80, | |
| "start_physics_step": 4806 | |
| }, | |
| { | |
| "action_index": 45, | |
| "end_physics_step": 4948, | |
| "physics_steps": 62, | |
| "start_physics_step": 4886 | |
| }, | |
| { | |
| "action_index": 46, | |
| "end_physics_step": 4982, | |
| "physics_steps": 34, | |
| "start_physics_step": 4948 | |
| }, | |
| { | |
| "action_index": 47, | |
| "end_physics_step": 5032, | |
| "physics_steps": 50, | |
| "start_physics_step": 4982 | |
| }, | |
| { | |
| "action_index": 48, | |
| "end_physics_step": 5082, | |
| "physics_steps": 50, | |
| "start_physics_step": 5032 | |
| }, | |
| { | |
| "action_index": 49, | |
| "end_physics_step": 5132, | |
| "physics_steps": 50, | |
| "start_physics_step": 5082 | |
| }, | |
| { | |
| "action_index": 50, | |
| "end_physics_step": 5182, | |
| "physics_steps": 50, | |
| "start_physics_step": 5132 | |
| }, | |
| { | |
| "action_index": 51, | |
| "end_physics_step": 5232, | |
| "physics_steps": 50, | |
| "start_physics_step": 5182 | |
| }, | |
| { | |
| "action_index": 52, | |
| "end_physics_step": 5282, | |
| "physics_steps": 50, | |
| "start_physics_step": 5232 | |
| }, | |
| { | |
| "action_index": 53, | |
| "end_physics_step": 5332, | |
| "physics_steps": 50, | |
| "start_physics_step": 5282 | |
| }, | |
| { | |
| "action_index": 54, | |
| "end_physics_step": 5382, | |
| "physics_steps": 50, | |
| "start_physics_step": 5332 | |
| }, | |
| { | |
| "action_index": 55, | |
| "end_physics_step": 5432, | |
| "physics_steps": 50, | |
| "start_physics_step": 5382 | |
| }, | |
| { | |
| "action_index": 56, | |
| "end_physics_step": 5482, | |
| "physics_steps": 50, | |
| "start_physics_step": 5432 | |
| }, | |
| { | |
| "action_index": 57, | |
| "end_physics_step": 5532, | |
| "physics_steps": 50, | |
| "start_physics_step": 5482 | |
| }, | |
| { | |
| "action_index": 58, | |
| "end_physics_step": 5582, | |
| "physics_steps": 50, | |
| "start_physics_step": 5532 | |
| }, | |
| { | |
| "action_index": 59, | |
| "end_physics_step": 5632, | |
| "physics_steps": 50, | |
| "start_physics_step": 5582 | |
| }, | |
| { | |
| "action_index": 60, | |
| "end_physics_step": 5682, | |
| "physics_steps": 50, | |
| "start_physics_step": 5632 | |
| }, | |
| { | |
| "action_index": 61, | |
| "end_physics_step": 5732, | |
| "physics_steps": 50, | |
| "start_physics_step": 5682 | |
| }, | |
| { | |
| "action_index": 62, | |
| "end_physics_step": 5782, | |
| "physics_steps": 50, | |
| "start_physics_step": 5732 | |
| }, | |
| { | |
| "action_index": 63, | |
| "end_physics_step": 5832, | |
| "physics_steps": 50, | |
| "start_physics_step": 5782 | |
| }, | |
| { | |
| "action_index": 64, | |
| "end_physics_step": 5882, | |
| "physics_steps": 50, | |
| "start_physics_step": 5832 | |
| }, | |
| { | |
| "action_index": 65, | |
| "end_physics_step": 5932, | |
| "physics_steps": 50, | |
| "start_physics_step": 5882 | |
| }, | |
| { | |
| "action_index": 66, | |
| "end_physics_step": 5982, | |
| "physics_steps": 50, | |
| "start_physics_step": 5932 | |
| }, | |
| { | |
| "action_index": 67, | |
| "end_physics_step": 6032, | |
| "physics_steps": 50, | |
| "start_physics_step": 5982 | |
| }, | |
| { | |
| "action_index": 68, | |
| "end_physics_step": 6082, | |
| "physics_steps": 50, | |
| "start_physics_step": 6032 | |
| }, | |
| { | |
| "action_index": 69, | |
| "end_physics_step": 6132, | |
| "physics_steps": 50, | |
| "start_physics_step": 6082 | |
| }, | |
| { | |
| "action_index": 70, | |
| "end_physics_step": 6182, | |
| "physics_steps": 50, | |
| "start_physics_step": 6132 | |
| }, | |
| { | |
| "action_index": 71, | |
| "end_physics_step": 6208, | |
| "physics_steps": 26, | |
| "start_physics_step": 6182 | |
| }, | |
| { | |
| "action_index": 72, | |
| "end_physics_step": 6234, | |
| "physics_steps": 26, | |
| "start_physics_step": 6208 | |
| }, | |
| { | |
| "action_index": 73, | |
| "end_physics_step": 6291, | |
| "physics_steps": 57, | |
| "start_physics_step": 6234 | |
| }, | |
| { | |
| "action_index": 74, | |
| "end_physics_step": 6367, | |
| "physics_steps": 76, | |
| "start_physics_step": 6291 | |
| }, | |
| { | |
| "action_index": 75, | |
| "end_physics_step": 6459, | |
| "physics_steps": 92, | |
| "start_physics_step": 6367 | |
| }, | |
| { | |
| "action_index": 76, | |
| "end_physics_step": 6562, | |
| "physics_steps": 103, | |
| "start_physics_step": 6459 | |
| }, | |
| { | |
| "action_index": 77, | |
| "end_physics_step": 6674, | |
| "physics_steps": 112, | |
| "start_physics_step": 6562 | |
| }, | |
| { | |
| "action_index": 78, | |
| "end_physics_step": 6793, | |
| "physics_steps": 119, | |
| "start_physics_step": 6674 | |
| }, | |
| { | |
| "action_index": 79, | |
| "end_physics_step": 6911, | |
| "physics_steps": 118, | |
| "start_physics_step": 6793 | |
| }, | |
| { | |
| "action_index": 80, | |
| "end_physics_step": 7027, | |
| "physics_steps": 116, | |
| "start_physics_step": 6911 | |
| }, | |
| { | |
| "action_index": 81, | |
| "end_physics_step": 7133, | |
| "physics_steps": 106, | |
| "start_physics_step": 7027 | |
| }, | |
| { | |
| "action_index": 82, | |
| "end_physics_step": 7227, | |
| "physics_steps": 94, | |
| "start_physics_step": 7133 | |
| }, | |
| { | |
| "action_index": 83, | |
| "end_physics_step": 7305, | |
| "physics_steps": 78, | |
| "start_physics_step": 7227 | |
| }, | |
| { | |
| "action_index": 84, | |
| "end_physics_step": 7365, | |
| "physics_steps": 60, | |
| "start_physics_step": 7305 | |
| }, | |
| { | |
| "action_index": 85, | |
| "end_physics_step": 7397, | |
| "physics_steps": 32, | |
| "start_physics_step": 7365 | |
| }, | |
| { | |
| "action_index": 86, | |
| "end_physics_step": 7447, | |
| "physics_steps": 50, | |
| "start_physics_step": 7397 | |
| }, | |
| { | |
| "action_index": 87, | |
| "end_physics_step": 7497, | |
| "physics_steps": 50, | |
| "start_physics_step": 7447 | |
| }, | |
| { | |
| "action_index": 88, | |
| "end_physics_step": 7547, | |
| "physics_steps": 50, | |
| "start_physics_step": 7497 | |
| }, | |
| { | |
| "action_index": 89, | |
| "end_physics_step": 7597, | |
| "physics_steps": 50, | |
| "start_physics_step": 7547 | |
| }, | |
| { | |
| "action_index": 90, | |
| "end_physics_step": 7647, | |
| "physics_steps": 50, | |
| "start_physics_step": 7597 | |
| }, | |
| { | |
| "action_index": 91, | |
| "end_physics_step": 7709, | |
| "physics_steps": 62, | |
| "start_physics_step": 7647 | |
| }, | |
| { | |
| "action_index": 92, | |
| "end_physics_step": 7795, | |
| "physics_steps": 86, | |
| "start_physics_step": 7709 | |
| }, | |
| { | |
| "action_index": 93, | |
| "end_physics_step": 7894, | |
| "physics_steps": 99, | |
| "start_physics_step": 7795 | |
| }, | |
| { | |
| "action_index": 94, | |
| "end_physics_step": 8003, | |
| "physics_steps": 109, | |
| "start_physics_step": 7894 | |
| }, | |
| { | |
| "action_index": 95, | |
| "end_physics_step": 8125, | |
| "physics_steps": 122, | |
| "start_physics_step": 8003 | |
| }, | |
| { | |
| "action_index": 96, | |
| "end_physics_step": 8254, | |
| "physics_steps": 129, | |
| "start_physics_step": 8125 | |
| }, | |
| { | |
| "action_index": 97, | |
| "end_physics_step": 8388, | |
| "physics_steps": 134, | |
| "start_physics_step": 8254 | |
| }, | |
| { | |
| "action_index": 98, | |
| "end_physics_step": 8527, | |
| "physics_steps": 139, | |
| "start_physics_step": 8388 | |
| }, | |
| { | |
| "action_index": 99, | |
| "end_physics_step": 8670, | |
| "physics_steps": 143, | |
| "start_physics_step": 8527 | |
| }, | |
| { | |
| "action_index": 100, | |
| "end_physics_step": 8816, | |
| "physics_steps": 146, | |
| "start_physics_step": 8670 | |
| }, | |
| { | |
| "action_index": 101, | |
| "end_physics_step": 8965, | |
| "physics_steps": 149, | |
| "start_physics_step": 8816 | |
| }, | |
| { | |
| "action_index": 102, | |
| "end_physics_step": 9117, | |
| "physics_steps": 152, | |
| "start_physics_step": 8965 | |
| }, | |
| { | |
| "action_index": 103, | |
| "end_physics_step": 9270, | |
| "physics_steps": 153, | |
| "start_physics_step": 9117 | |
| }, | |
| { | |
| "action_index": 104, | |
| "end_physics_step": 9425, | |
| "physics_steps": 155, | |
| "start_physics_step": 9270 | |
| }, | |
| { | |
| "action_index": 105, | |
| "end_physics_step": 9580, | |
| "physics_steps": 155, | |
| "start_physics_step": 9425 | |
| }, | |
| { | |
| "action_index": 106, | |
| "end_physics_step": 9736, | |
| "physics_steps": 156, | |
| "start_physics_step": 9580 | |
| }, | |
| { | |
| "action_index": 107, | |
| "end_physics_step": 9892, | |
| "physics_steps": 156, | |
| "start_physics_step": 9736 | |
| }, | |
| { | |
| "action_index": 108, | |
| "end_physics_step": 10046, | |
| "physics_steps": 154, | |
| "start_physics_step": 9892 | |
| }, | |
| { | |
| "action_index": 109, | |
| "end_physics_step": 10199, | |
| "physics_steps": 153, | |
| "start_physics_step": 10046 | |
| }, | |
| { | |
| "action_index": 110, | |
| "end_physics_step": 10351, | |
| "physics_steps": 152, | |
| "start_physics_step": 10199 | |
| }, | |
| { | |
| "action_index": 111, | |
| "end_physics_step": 10500, | |
| "physics_steps": 149, | |
| "start_physics_step": 10351 | |
| }, | |
| { | |
| "action_index": 112, | |
| "end_physics_step": 10646, | |
| "physics_steps": 146, | |
| "start_physics_step": 10500 | |
| }, | |
| { | |
| "action_index": 113, | |
| "end_physics_step": 10790, | |
| "physics_steps": 144, | |
| "start_physics_step": 10646 | |
| }, | |
| { | |
| "action_index": 114, | |
| "end_physics_step": 10929, | |
| "physics_steps": 139, | |
| "start_physics_step": 10790 | |
| }, | |
| { | |
| "action_index": 115, | |
| "end_physics_step": 11064, | |
| "physics_steps": 135, | |
| "start_physics_step": 10929 | |
| }, | |
| { | |
| "action_index": 116, | |
| "end_physics_step": 11195, | |
| "physics_steps": 131, | |
| "start_physics_step": 11064 | |
| }, | |
| { | |
| "action_index": 117, | |
| "end_physics_step": 11321, | |
| "physics_steps": 126, | |
| "start_physics_step": 11195 | |
| }, | |
| { | |
| "action_index": 118, | |
| "end_physics_step": 11442, | |
| "physics_steps": 121, | |
| "start_physics_step": 11321 | |
| }, | |
| { | |
| "action_index": 119, | |
| "end_physics_step": 11559, | |
| "physics_steps": 117, | |
| "start_physics_step": 11442 | |
| }, | |
| { | |
| "action_index": 120, | |
| "end_physics_step": 11671, | |
| "physics_steps": 112, | |
| "start_physics_step": 11559 | |
| }, | |
| { | |
| "action_index": 121, | |
| "end_physics_step": 11776, | |
| "physics_steps": 105, | |
| "start_physics_step": 11671 | |
| }, | |
| { | |
| "action_index": 122, | |
| "end_physics_step": 11876, | |
| "physics_steps": 100, | |
| "start_physics_step": 11776 | |
| }, | |
| { | |
| "action_index": 123, | |
| "end_physics_step": 11970, | |
| "physics_steps": 94, | |
| "start_physics_step": 11876 | |
| }, | |
| { | |
| "action_index": 124, | |
| "end_physics_step": 12056, | |
| "physics_steps": 86, | |
| "start_physics_step": 11970 | |
| }, | |
| { | |
| "action_index": 125, | |
| "end_physics_step": 12137, | |
| "physics_steps": 81, | |
| "start_physics_step": 12056 | |
| }, | |
| { | |
| "action_index": 126, | |
| "end_physics_step": 12212, | |
| "physics_steps": 75, | |
| "start_physics_step": 12137 | |
| }, | |
| { | |
| "action_index": 127, | |
| "end_physics_step": 12275, | |
| "physics_steps": 63, | |
| "start_physics_step": 12212 | |
| }, | |
| { | |
| "action_index": 128, | |
| "end_physics_step": 12331, | |
| "physics_steps": 56, | |
| "start_physics_step": 12275 | |
| }, | |
| { | |
| "action_index": 129, | |
| "end_physics_step": 12381, | |
| "physics_steps": 50, | |
| "start_physics_step": 12331 | |
| }, | |
| { | |
| "action_index": 130, | |
| "end_physics_step": 12431, | |
| "physics_steps": 50, | |
| "start_physics_step": 12381 | |
| }, | |
| { | |
| "action_index": 131, | |
| "end_physics_step": 12481, | |
| "physics_steps": 50, | |
| "start_physics_step": 12431 | |
| }, | |
| { | |
| "action_index": 132, | |
| "end_physics_step": 12531, | |
| "physics_steps": 50, | |
| "start_physics_step": 12481 | |
| }, | |
| { | |
| "action_index": 133, | |
| "end_physics_step": 12581, | |
| "physics_steps": 50, | |
| "start_physics_step": 12531 | |
| }, | |
| { | |
| "action_index": 134, | |
| "end_physics_step": 12631, | |
| "physics_steps": 50, | |
| "start_physics_step": 12581 | |
| }, | |
| { | |
| "action_index": 135, | |
| "end_physics_step": 12681, | |
| "physics_steps": 50, | |
| "start_physics_step": 12631 | |
| }, | |
| { | |
| "action_index": 136, | |
| "end_physics_step": 12731, | |
| "physics_steps": 50, | |
| "start_physics_step": 12681 | |
| }, | |
| { | |
| "action_index": 137, | |
| "end_physics_step": 12781, | |
| "physics_steps": 50, | |
| "start_physics_step": 12731 | |
| }, | |
| { | |
| "action_index": 138, | |
| "end_physics_step": 12831, | |
| "physics_steps": 50, | |
| "start_physics_step": 12781 | |
| }, | |
| { | |
| "action_index": 139, | |
| "end_physics_step": 12881, | |
| "physics_steps": 50, | |
| "start_physics_step": 12831 | |
| }, | |
| { | |
| "action_index": 140, | |
| "end_physics_step": 12931, | |
| "physics_steps": 50, | |
| "start_physics_step": 12881 | |
| }, | |
| { | |
| "action_index": 141, | |
| "end_physics_step": 12981, | |
| "physics_steps": 50, | |
| "start_physics_step": 12931 | |
| }, | |
| { | |
| "action_index": 142, | |
| "end_physics_step": 13031, | |
| "physics_steps": 50, | |
| "start_physics_step": 12981 | |
| }, | |
| { | |
| "action_index": 143, | |
| "end_physics_step": 13081, | |
| "physics_steps": 50, | |
| "start_physics_step": 13031 | |
| }, | |
| { | |
| "action_index": 144, | |
| "end_physics_step": 13131, | |
| "physics_steps": 50, | |
| "start_physics_step": 13081 | |
| }, | |
| { | |
| "action_index": 145, | |
| "end_physics_step": 13182, | |
| "physics_steps": 51, | |
| "start_physics_step": 13131 | |
| }, | |
| { | |
| "action_index": 146, | |
| "end_physics_step": 13254, | |
| "physics_steps": 72, | |
| "start_physics_step": 13182 | |
| }, | |
| { | |
| "action_index": 147, | |
| "end_physics_step": 13343, | |
| "physics_steps": 89, | |
| "start_physics_step": 13254 | |
| }, | |
| { | |
| "action_index": 148, | |
| "end_physics_step": 13446, | |
| "physics_steps": 103, | |
| "start_physics_step": 13343 | |
| }, | |
| { | |
| "action_index": 149, | |
| "end_physics_step": 13560, | |
| "physics_steps": 114, | |
| "start_physics_step": 13446 | |
| }, | |
| { | |
| "action_index": 150, | |
| "end_physics_step": 13683, | |
| "physics_steps": 123, | |
| "start_physics_step": 13560 | |
| }, | |
| { | |
| "action_index": 151, | |
| "end_physics_step": 13813, | |
| "physics_steps": 130, | |
| "start_physics_step": 13683 | |
| }, | |
| { | |
| "action_index": 152, | |
| "end_physics_step": 13948, | |
| "physics_steps": 135, | |
| "start_physics_step": 13813 | |
| }, | |
| { | |
| "action_index": 153, | |
| "end_physics_step": 14087, | |
| "physics_steps": 139, | |
| "start_physics_step": 13948 | |
| }, | |
| { | |
| "action_index": 154, | |
| "end_physics_step": 14229, | |
| "physics_steps": 142, | |
| "start_physics_step": 14087 | |
| }, | |
| { | |
| "action_index": 155, | |
| "end_physics_step": 14373, | |
| "physics_steps": 144, | |
| "start_physics_step": 14229 | |
| }, | |
| { | |
| "action_index": 156, | |
| "end_physics_step": 14520, | |
| "physics_steps": 147, | |
| "start_physics_step": 14373 | |
| }, | |
| { | |
| "action_index": 157, | |
| "end_physics_step": 14669, | |
| "physics_steps": 149, | |
| "start_physics_step": 14520 | |
| }, | |
| { | |
| "action_index": 158, | |
| "end_physics_step": 14820, | |
| "physics_steps": 151, | |
| "start_physics_step": 14669 | |
| }, | |
| { | |
| "action_index": 159, | |
| "end_physics_step": 14971, | |
| "physics_steps": 151, | |
| "start_physics_step": 14820 | |
| }, | |
| { | |
| "action_index": 160, | |
| "end_physics_step": 15121, | |
| "physics_steps": 150, | |
| "start_physics_step": 14971 | |
| }, | |
| { | |
| "action_index": 161, | |
| "end_physics_step": 15268, | |
| "physics_steps": 147, | |
| "start_physics_step": 15121 | |
| }, | |
| { | |
| "action_index": 162, | |
| "end_physics_step": 15410, | |
| "physics_steps": 142, | |
| "start_physics_step": 15268 | |
| }, | |
| { | |
| "action_index": 163, | |
| "end_physics_step": 15545, | |
| "physics_steps": 135, | |
| "start_physics_step": 15410 | |
| }, | |
| { | |
| "action_index": 164, | |
| "end_physics_step": 15672, | |
| "physics_steps": 127, | |
| "start_physics_step": 15545 | |
| }, | |
| { | |
| "action_index": 165, | |
| "end_physics_step": 15789, | |
| "physics_steps": 117, | |
| "start_physics_step": 15672 | |
| }, | |
| { | |
| "action_index": 166, | |
| "end_physics_step": 15836, | |
| "physics_steps": 47, | |
| "start_physics_step": 15789 | |
| } | |
| ], | |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", | |
| "training_action_final_state": { | |
| "grippers": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "object_position": [ | |
| 0.030540991574525833, | |
| -0.02004973031580448, | |
| 0.9494611620903015 | |
| ], | |
| "scanner_functional_point": [ | |
| -0.01348118326198545, | |
| -0.005691015923930537, | |
| 0.9290322301558107, | |
| 0.4947831295262037, | |
| -0.523967175720291, | |
| 0.5288812954840223, | |
| -0.4482550934357574 | |
| ] | |
| }, | |
| "training_action_input_frames": 181, | |
| "training_action_interarm_contact_steps": 0, | |
| "training_action_minimum_capsule_distance_m": 0.1161189205223512, | |
| "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": 15836, | |
| "training_actions_executed": 167 | |
| } | |