| { |
| "artifacts_complete": true, |
| "camera_validation": { |
| "episode": 32, |
| "fovy_deg": { |
| "left": 90.0, |
| "right": 90.0 |
| }, |
| "frames": 169, |
| "head_unique_frame_ratio": 0.9585798816568047, |
| "main_camera_policy": "native_dynamic", |
| "maximum_mount_distance_error_m": 4.783752344250658e-08, |
| "maximum_wrist_consecutive_dark_frames": 0, |
| "maximum_wrist_dark_frame_fraction": 0.0, |
| "minimum_wrist_median_luminance": 196.05077256944443, |
| "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": 209.94500868055556, |
| "right": 196.05077256944443 |
| } |
| }, |
| "collision_safe": true, |
| "collision_summary": { |
| "contact_step_indices": [], |
| "first_risk_step": null, |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.18171245518320067, |
| "moves": { |
| "object_place": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.25944878315924896 |
| }, |
| "scanner_align": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.18171245518320067 |
| }, |
| "scanner_grasp+object_grasp": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.21459736654153344 |
| }, |
| "scanner_lift+object_lift": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.2361195693830274 |
| } |
| }, |
| "physics_steps_checked": 2247 |
| }, |
| "episode": 32, |
| "frames": 169, |
| "plan_success": true, |
| "renderer_validation": { |
| "camera_shader": "rt", |
| "episode": 32, |
| "ray_tracing_denoiser": "optix", |
| "status": "passed" |
| }, |
| "replay_success": true, |
| "seed": 164, |
| "source_commits": { |
| "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", |
| "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" |
| }, |
| "task_specific_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| -0.029475554823875427, |
| -0.020322442054748535, |
| 0.9499372839927673 |
| ], |
| "scanner_functional_point": [ |
| 0.01931056014585266, |
| -0.020469786780941704, |
| 0.9548759684288133, |
| 0.15642169834027428, |
| 0.6896522638553733, |
| -0.15509672177851908, |
| -0.6898239008189407 |
| ] |
| }, |
| "task_success": true, |
| "timing_summary": { |
| "active_left_frames": 106, |
| "active_right_frames": 107, |
| "active_union_frames": 142, |
| "avoidable_idle_seconds": 2.14, |
| "frames": 169, |
| "overlap_frames": 71, |
| "overlap_ratio_active": 0.5, |
| "overlap_ratio_all": 0.42011834319526625, |
| "overlap_seconds": 2.3666666666666667, |
| "seconds": 5.633333333333334, |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| "training_action_collision_safe": true, |
| "training_action_count": 168, |
| "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": 924, |
| "physics_steps": 141, |
| "start_physics_step": 783 |
| }, |
| { |
| "action_index": 10, |
| "end_physics_step": 1071, |
| "physics_steps": 147, |
| "start_physics_step": 924 |
| }, |
| { |
| "action_index": 11, |
| "end_physics_step": 1223, |
| "physics_steps": 152, |
| "start_physics_step": 1071 |
| }, |
| { |
| "action_index": 12, |
| "end_physics_step": 1379, |
| "physics_steps": 156, |
| "start_physics_step": 1223 |
| }, |
| { |
| "action_index": 13, |
| "end_physics_step": 1537, |
| "physics_steps": 158, |
| "start_physics_step": 1379 |
| }, |
| { |
| "action_index": 14, |
| "end_physics_step": 1697, |
| "physics_steps": 160, |
| "start_physics_step": 1537 |
| }, |
| { |
| "action_index": 15, |
| "end_physics_step": 1858, |
| "physics_steps": 161, |
| "start_physics_step": 1697 |
| }, |
| { |
| "action_index": 16, |
| "end_physics_step": 2019, |
| "physics_steps": 161, |
| "start_physics_step": 1858 |
| }, |
| { |
| "action_index": 17, |
| "end_physics_step": 2179, |
| "physics_steps": 160, |
| "start_physics_step": 2019 |
| }, |
| { |
| "action_index": 18, |
| "end_physics_step": 2338, |
| "physics_steps": 159, |
| "start_physics_step": 2179 |
| }, |
| { |
| "action_index": 19, |
| "end_physics_step": 2494, |
| "physics_steps": 156, |
| "start_physics_step": 2338 |
| }, |
| { |
| "action_index": 20, |
| "end_physics_step": 2647, |
| "physics_steps": 153, |
| "start_physics_step": 2494 |
| }, |
| { |
| "action_index": 21, |
| "end_physics_step": 2796, |
| "physics_steps": 149, |
| "start_physics_step": 2647 |
| }, |
| { |
| "action_index": 22, |
| "end_physics_step": 2939, |
| "physics_steps": 143, |
| "start_physics_step": 2796 |
| }, |
| { |
| "action_index": 23, |
| "end_physics_step": 3076, |
| "physics_steps": 137, |
| "start_physics_step": 2939 |
| }, |
| { |
| "action_index": 24, |
| "end_physics_step": 3205, |
| "physics_steps": 129, |
| "start_physics_step": 3076 |
| }, |
| { |
| "action_index": 25, |
| "end_physics_step": 3324, |
| "physics_steps": 119, |
| "start_physics_step": 3205 |
| }, |
| { |
| "action_index": 26, |
| "end_physics_step": 3431, |
| "physics_steps": 107, |
| "start_physics_step": 3324 |
| }, |
| { |
| "action_index": 27, |
| "end_physics_step": 3525, |
| "physics_steps": 94, |
| "start_physics_step": 3431 |
| }, |
| { |
| "action_index": 28, |
| "end_physics_step": 3604, |
| "physics_steps": 79, |
| "start_physics_step": 3525 |
| }, |
| { |
| "action_index": 29, |
| "end_physics_step": 3664, |
| "physics_steps": 60, |
| "start_physics_step": 3604 |
| }, |
| { |
| "action_index": 30, |
| "end_physics_step": 3698, |
| "physics_steps": 34, |
| "start_physics_step": 3664 |
| }, |
| { |
| "action_index": 31, |
| "end_physics_step": 3748, |
| "physics_steps": 50, |
| "start_physics_step": 3698 |
| }, |
| { |
| "action_index": 32, |
| "end_physics_step": 3798, |
| "physics_steps": 50, |
| "start_physics_step": 3748 |
| }, |
| { |
| "action_index": 33, |
| "end_physics_step": 3848, |
| "physics_steps": 50, |
| "start_physics_step": 3798 |
| }, |
| { |
| "action_index": 34, |
| "end_physics_step": 3884, |
| "physics_steps": 36, |
| "start_physics_step": 3848 |
| }, |
| { |
| "action_index": 35, |
| "end_physics_step": 3911, |
| "physics_steps": 27, |
| "start_physics_step": 3884 |
| }, |
| { |
| "action_index": 36, |
| "end_physics_step": 3966, |
| "physics_steps": 55, |
| "start_physics_step": 3911 |
| }, |
| { |
| "action_index": 37, |
| "end_physics_step": 4040, |
| "physics_steps": 74, |
| "start_physics_step": 3966 |
| }, |
| { |
| "action_index": 38, |
| "end_physics_step": 4128, |
| "physics_steps": 88, |
| "start_physics_step": 4040 |
| }, |
| { |
| "action_index": 39, |
| "end_physics_step": 4223, |
| "physics_steps": 95, |
| "start_physics_step": 4128 |
| }, |
| { |
| "action_index": 40, |
| "end_physics_step": 4324, |
| "physics_steps": 101, |
| "start_physics_step": 4223 |
| }, |
| { |
| "action_index": 41, |
| "end_physics_step": 4426, |
| "physics_steps": 102, |
| "start_physics_step": 4324 |
| }, |
| { |
| "action_index": 42, |
| "end_physics_step": 4524, |
| "physics_steps": 98, |
| "start_physics_step": 4426 |
| }, |
| { |
| "action_index": 43, |
| "end_physics_step": 4616, |
| "physics_steps": 92, |
| "start_physics_step": 4524 |
| }, |
| { |
| "action_index": 44, |
| "end_physics_step": 4694, |
| "physics_steps": 78, |
| "start_physics_step": 4616 |
| }, |
| { |
| "action_index": 45, |
| "end_physics_step": 4753, |
| "physics_steps": 59, |
| "start_physics_step": 4694 |
| }, |
| { |
| "action_index": 46, |
| "end_physics_step": 4783, |
| "physics_steps": 30, |
| "start_physics_step": 4753 |
| }, |
| { |
| "action_index": 47, |
| "end_physics_step": 4833, |
| "physics_steps": 50, |
| "start_physics_step": 4783 |
| }, |
| { |
| "action_index": 48, |
| "end_physics_step": 4883, |
| "physics_steps": 50, |
| "start_physics_step": 4833 |
| }, |
| { |
| "action_index": 49, |
| "end_physics_step": 4933, |
| "physics_steps": 50, |
| "start_physics_step": 4883 |
| }, |
| { |
| "action_index": 50, |
| "end_physics_step": 4983, |
| "physics_steps": 50, |
| "start_physics_step": 4933 |
| }, |
| { |
| "action_index": 51, |
| "end_physics_step": 5033, |
| "physics_steps": 50, |
| "start_physics_step": 4983 |
| }, |
| { |
| "action_index": 52, |
| "end_physics_step": 5083, |
| "physics_steps": 50, |
| "start_physics_step": 5033 |
| }, |
| { |
| "action_index": 53, |
| "end_physics_step": 5133, |
| "physics_steps": 50, |
| "start_physics_step": 5083 |
| }, |
| { |
| "action_index": 54, |
| "end_physics_step": 5183, |
| "physics_steps": 50, |
| "start_physics_step": 5133 |
| }, |
| { |
| "action_index": 55, |
| "end_physics_step": 5233, |
| "physics_steps": 50, |
| "start_physics_step": 5183 |
| }, |
| { |
| "action_index": 56, |
| "end_physics_step": 5283, |
| "physics_steps": 50, |
| "start_physics_step": 5233 |
| }, |
| { |
| "action_index": 57, |
| "end_physics_step": 5333, |
| "physics_steps": 50, |
| "start_physics_step": 5283 |
| }, |
| { |
| "action_index": 58, |
| "end_physics_step": 5383, |
| "physics_steps": 50, |
| "start_physics_step": 5333 |
| }, |
| { |
| "action_index": 59, |
| "end_physics_step": 5433, |
| "physics_steps": 50, |
| "start_physics_step": 5383 |
| }, |
| { |
| "action_index": 60, |
| "end_physics_step": 5483, |
| "physics_steps": 50, |
| "start_physics_step": 5433 |
| }, |
| { |
| "action_index": 61, |
| "end_physics_step": 5533, |
| "physics_steps": 50, |
| "start_physics_step": 5483 |
| }, |
| { |
| "action_index": 62, |
| "end_physics_step": 5583, |
| "physics_steps": 50, |
| "start_physics_step": 5533 |
| }, |
| { |
| "action_index": 63, |
| "end_physics_step": 5633, |
| "physics_steps": 50, |
| "start_physics_step": 5583 |
| }, |
| { |
| "action_index": 64, |
| "end_physics_step": 5683, |
| "physics_steps": 50, |
| "start_physics_step": 5633 |
| }, |
| { |
| "action_index": 65, |
| "end_physics_step": 5733, |
| "physics_steps": 50, |
| "start_physics_step": 5683 |
| }, |
| { |
| "action_index": 66, |
| "end_physics_step": 5783, |
| "physics_steps": 50, |
| "start_physics_step": 5733 |
| }, |
| { |
| "action_index": 67, |
| "end_physics_step": 5833, |
| "physics_steps": 50, |
| "start_physics_step": 5783 |
| }, |
| { |
| "action_index": 68, |
| "end_physics_step": 5883, |
| "physics_steps": 50, |
| "start_physics_step": 5833 |
| }, |
| { |
| "action_index": 69, |
| "end_physics_step": 5933, |
| "physics_steps": 50, |
| "start_physics_step": 5883 |
| }, |
| { |
| "action_index": 70, |
| "end_physics_step": 5983, |
| "physics_steps": 50, |
| "start_physics_step": 5933 |
| }, |
| { |
| "action_index": 71, |
| "end_physics_step": 6031, |
| "physics_steps": 48, |
| "start_physics_step": 5983 |
| }, |
| { |
| "action_index": 72, |
| "end_physics_step": 6057, |
| "physics_steps": 26, |
| "start_physics_step": 6031 |
| }, |
| { |
| "action_index": 73, |
| "end_physics_step": 6114, |
| "physics_steps": 57, |
| "start_physics_step": 6057 |
| }, |
| { |
| "action_index": 74, |
| "end_physics_step": 6190, |
| "physics_steps": 76, |
| "start_physics_step": 6114 |
| }, |
| { |
| "action_index": 75, |
| "end_physics_step": 6282, |
| "physics_steps": 92, |
| "start_physics_step": 6190 |
| }, |
| { |
| "action_index": 76, |
| "end_physics_step": 6387, |
| "physics_steps": 105, |
| "start_physics_step": 6282 |
| }, |
| { |
| "action_index": 77, |
| "end_physics_step": 6503, |
| "physics_steps": 116, |
| "start_physics_step": 6387 |
| }, |
| { |
| "action_index": 78, |
| "end_physics_step": 6625, |
| "physics_steps": 122, |
| "start_physics_step": 6503 |
| }, |
| { |
| "action_index": 79, |
| "end_physics_step": 6746, |
| "physics_steps": 121, |
| "start_physics_step": 6625 |
| }, |
| { |
| "action_index": 80, |
| "end_physics_step": 6864, |
| "physics_steps": 118, |
| "start_physics_step": 6746 |
| }, |
| { |
| "action_index": 81, |
| "end_physics_step": 6973, |
| "physics_steps": 109, |
| "start_physics_step": 6864 |
| }, |
| { |
| "action_index": 82, |
| "end_physics_step": 7069, |
| "physics_steps": 96, |
| "start_physics_step": 6973 |
| }, |
| { |
| "action_index": 83, |
| "end_physics_step": 7150, |
| "physics_steps": 81, |
| "start_physics_step": 7069 |
| }, |
| { |
| "action_index": 84, |
| "end_physics_step": 7213, |
| "physics_steps": 63, |
| "start_physics_step": 7150 |
| }, |
| { |
| "action_index": 85, |
| "end_physics_step": 7249, |
| "physics_steps": 36, |
| "start_physics_step": 7213 |
| }, |
| { |
| "action_index": 86, |
| "end_physics_step": 7299, |
| "physics_steps": 50, |
| "start_physics_step": 7249 |
| }, |
| { |
| "action_index": 87, |
| "end_physics_step": 7349, |
| "physics_steps": 50, |
| "start_physics_step": 7299 |
| }, |
| { |
| "action_index": 88, |
| "end_physics_step": 7399, |
| "physics_steps": 50, |
| "start_physics_step": 7349 |
| }, |
| { |
| "action_index": 89, |
| "end_physics_step": 7449, |
| "physics_steps": 50, |
| "start_physics_step": 7399 |
| }, |
| { |
| "action_index": 90, |
| "end_physics_step": 7499, |
| "physics_steps": 50, |
| "start_physics_step": 7449 |
| }, |
| { |
| "action_index": 91, |
| "end_physics_step": 7570, |
| "physics_steps": 71, |
| "start_physics_step": 7499 |
| }, |
| { |
| "action_index": 92, |
| "end_physics_step": 7658, |
| "physics_steps": 88, |
| "start_physics_step": 7570 |
| }, |
| { |
| "action_index": 93, |
| "end_physics_step": 7760, |
| "physics_steps": 102, |
| "start_physics_step": 7658 |
| }, |
| { |
| "action_index": 94, |
| "end_physics_step": 7874, |
| "physics_steps": 114, |
| "start_physics_step": 7760 |
| }, |
| { |
| "action_index": 95, |
| "end_physics_step": 7999, |
| "physics_steps": 125, |
| "start_physics_step": 7874 |
| }, |
| { |
| "action_index": 96, |
| "end_physics_step": 8134, |
| "physics_steps": 135, |
| "start_physics_step": 7999 |
| }, |
| { |
| "action_index": 97, |
| "end_physics_step": 8278, |
| "physics_steps": 144, |
| "start_physics_step": 8134 |
| }, |
| { |
| "action_index": 98, |
| "end_physics_step": 8428, |
| "physics_steps": 150, |
| "start_physics_step": 8278 |
| }, |
| { |
| "action_index": 99, |
| "end_physics_step": 8584, |
| "physics_steps": 156, |
| "start_physics_step": 8428 |
| }, |
| { |
| "action_index": 100, |
| "end_physics_step": 8744, |
| "physics_steps": 160, |
| "start_physics_step": 8584 |
| }, |
| { |
| "action_index": 101, |
| "end_physics_step": 8907, |
| "physics_steps": 163, |
| "start_physics_step": 8744 |
| }, |
| { |
| "action_index": 102, |
| "end_physics_step": 9073, |
| "physics_steps": 166, |
| "start_physics_step": 8907 |
| }, |
| { |
| "action_index": 103, |
| "end_physics_step": 9240, |
| "physics_steps": 167, |
| "start_physics_step": 9073 |
| }, |
| { |
| "action_index": 104, |
| "end_physics_step": 9407, |
| "physics_steps": 167, |
| "start_physics_step": 9240 |
| }, |
| { |
| "action_index": 105, |
| "end_physics_step": 9574, |
| "physics_steps": 167, |
| "start_physics_step": 9407 |
| }, |
| { |
| "action_index": 106, |
| "end_physics_step": 9740, |
| "physics_steps": 166, |
| "start_physics_step": 9574 |
| }, |
| { |
| "action_index": 107, |
| "end_physics_step": 9904, |
| "physics_steps": 164, |
| "start_physics_step": 9740 |
| }, |
| { |
| "action_index": 108, |
| "end_physics_step": 10065, |
| "physics_steps": 161, |
| "start_physics_step": 9904 |
| }, |
| { |
| "action_index": 109, |
| "end_physics_step": 10222, |
| "physics_steps": 157, |
| "start_physics_step": 10065 |
| }, |
| { |
| "action_index": 110, |
| "end_physics_step": 10374, |
| "physics_steps": 152, |
| "start_physics_step": 10222 |
| }, |
| { |
| "action_index": 111, |
| "end_physics_step": 10521, |
| "physics_steps": 147, |
| "start_physics_step": 10374 |
| }, |
| { |
| "action_index": 112, |
| "end_physics_step": 10661, |
| "physics_steps": 140, |
| "start_physics_step": 10521 |
| }, |
| { |
| "action_index": 113, |
| "end_physics_step": 10793, |
| "physics_steps": 132, |
| "start_physics_step": 10661 |
| }, |
| { |
| "action_index": 114, |
| "end_physics_step": 10916, |
| "physics_steps": 123, |
| "start_physics_step": 10793 |
| }, |
| { |
| "action_index": 115, |
| "end_physics_step": 11028, |
| "physics_steps": 112, |
| "start_physics_step": 10916 |
| }, |
| { |
| "action_index": 116, |
| "end_physics_step": 11128, |
| "physics_steps": 100, |
| "start_physics_step": 11028 |
| }, |
| { |
| "action_index": 117, |
| "end_physics_step": 11214, |
| "physics_steps": 86, |
| "start_physics_step": 11128 |
| }, |
| { |
| "action_index": 118, |
| "end_physics_step": 11282, |
| "physics_steps": 68, |
| "start_physics_step": 11214 |
| }, |
| { |
| "action_index": 119, |
| "end_physics_step": 11332, |
| "physics_steps": 50, |
| "start_physics_step": 11282 |
| }, |
| { |
| "action_index": 120, |
| "end_physics_step": 11382, |
| "physics_steps": 50, |
| "start_physics_step": 11332 |
| }, |
| { |
| "action_index": 121, |
| "end_physics_step": 11432, |
| "physics_steps": 50, |
| "start_physics_step": 11382 |
| }, |
| { |
| "action_index": 122, |
| "end_physics_step": 11482, |
| "physics_steps": 50, |
| "start_physics_step": 11432 |
| }, |
| { |
| "action_index": 123, |
| "end_physics_step": 11532, |
| "physics_steps": 50, |
| "start_physics_step": 11482 |
| }, |
| { |
| "action_index": 124, |
| "end_physics_step": 11582, |
| "physics_steps": 50, |
| "start_physics_step": 11532 |
| }, |
| { |
| "action_index": 125, |
| "end_physics_step": 11632, |
| "physics_steps": 50, |
| "start_physics_step": 11582 |
| }, |
| { |
| "action_index": 126, |
| "end_physics_step": 11682, |
| "physics_steps": 50, |
| "start_physics_step": 11632 |
| }, |
| { |
| "action_index": 127, |
| "end_physics_step": 11732, |
| "physics_steps": 50, |
| "start_physics_step": 11682 |
| }, |
| { |
| "action_index": 128, |
| "end_physics_step": 11782, |
| "physics_steps": 50, |
| "start_physics_step": 11732 |
| }, |
| { |
| "action_index": 129, |
| "end_physics_step": 11832, |
| "physics_steps": 50, |
| "start_physics_step": 11782 |
| }, |
| { |
| "action_index": 130, |
| "end_physics_step": 11882, |
| "physics_steps": 50, |
| "start_physics_step": 11832 |
| }, |
| { |
| "action_index": 131, |
| "end_physics_step": 11952, |
| "physics_steps": 70, |
| "start_physics_step": 11882 |
| }, |
| { |
| "action_index": 132, |
| "end_physics_step": 12036, |
| "physics_steps": 84, |
| "start_physics_step": 11952 |
| }, |
| { |
| "action_index": 133, |
| "end_physics_step": 12131, |
| "physics_steps": 95, |
| "start_physics_step": 12036 |
| }, |
| { |
| "action_index": 134, |
| "end_physics_step": 12235, |
| "physics_steps": 104, |
| "start_physics_step": 12131 |
| }, |
| { |
| "action_index": 135, |
| "end_physics_step": 12346, |
| "physics_steps": 111, |
| "start_physics_step": 12235 |
| }, |
| { |
| "action_index": 136, |
| "end_physics_step": 12463, |
| "physics_steps": 117, |
| "start_physics_step": 12346 |
| }, |
| { |
| "action_index": 137, |
| "end_physics_step": 12585, |
| "physics_steps": 122, |
| "start_physics_step": 12463 |
| }, |
| { |
| "action_index": 138, |
| "end_physics_step": 12711, |
| "physics_steps": 126, |
| "start_physics_step": 12585 |
| }, |
| { |
| "action_index": 139, |
| "end_physics_step": 12840, |
| "physics_steps": 129, |
| "start_physics_step": 12711 |
| }, |
| { |
| "action_index": 140, |
| "end_physics_step": 12972, |
| "physics_steps": 132, |
| "start_physics_step": 12840 |
| }, |
| { |
| "action_index": 141, |
| "end_physics_step": 13106, |
| "physics_steps": 134, |
| "start_physics_step": 12972 |
| }, |
| { |
| "action_index": 142, |
| "end_physics_step": 13241, |
| "physics_steps": 135, |
| "start_physics_step": 13106 |
| }, |
| { |
| "action_index": 143, |
| "end_physics_step": 13376, |
| "physics_steps": 135, |
| "start_physics_step": 13241 |
| }, |
| { |
| "action_index": 144, |
| "end_physics_step": 13511, |
| "physics_steps": 135, |
| "start_physics_step": 13376 |
| }, |
| { |
| "action_index": 145, |
| "end_physics_step": 13645, |
| "physics_steps": 134, |
| "start_physics_step": 13511 |
| }, |
| { |
| "action_index": 146, |
| "end_physics_step": 13778, |
| "physics_steps": 133, |
| "start_physics_step": 13645 |
| }, |
| { |
| "action_index": 147, |
| "end_physics_step": 13908, |
| "physics_steps": 130, |
| "start_physics_step": 13778 |
| }, |
| { |
| "action_index": 148, |
| "end_physics_step": 14035, |
| "physics_steps": 127, |
| "start_physics_step": 13908 |
| }, |
| { |
| "action_index": 149, |
| "end_physics_step": 14159, |
| "physics_steps": 124, |
| "start_physics_step": 14035 |
| }, |
| { |
| "action_index": 150, |
| "end_physics_step": 14279, |
| "physics_steps": 120, |
| "start_physics_step": 14159 |
| }, |
| { |
| "action_index": 151, |
| "end_physics_step": 14361, |
| "physics_steps": 82, |
| "start_physics_step": 14279 |
| } |
| ], |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", |
| "training_action_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| -0.03212224319577217, |
| -0.024109970778226852, |
| 0.9476662278175354 |
| ], |
| "scanner_functional_point": [ |
| 0.016413634437849395, |
| -0.0021941204402534005, |
| 0.9416197965949534, |
| 0.1261508270262153, |
| 0.7209381889245866, |
| -0.18926959700872048, |
| -0.6546076047823577 |
| ] |
| }, |
| "training_action_input_frames": 169, |
| "training_action_interarm_contact_steps": 0, |
| "training_action_minimum_capsule_distance_m": 0.18638862788022037, |
| "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": 14361, |
| "training_actions_executed": 152 |
| } |
|
|
