| { |
| "artifacts_complete": true, |
| "camera_validation": { |
| "episode": 44, |
| "fovy_deg": { |
| "left": 90.0, |
| "right": 90.0 |
| }, |
| "frames": 165, |
| "head_unique_frame_ratio": 0.9515151515151515, |
| "main_camera_policy": "native_dynamic", |
| "maximum_mount_distance_error_m": 4.684298317292335e-08, |
| "maximum_wrist_consecutive_dark_frames": 0, |
| "maximum_wrist_dark_frame_fraction": 0.0, |
| "minimum_wrist_median_luminance": 201.3218185763889, |
| "parallel_head_unique_frame_ratio": 0.9534883720930233, |
| "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": 214.71667534722224, |
| "right": 201.3218185763889 |
| } |
| }, |
| "collision_safe": true, |
| "collision_summary": { |
| "contact_step_indices": [], |
| "first_risk_step": null, |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1835670460090759, |
| "moves": { |
| "object_place": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.3343638381561028 |
| }, |
| "scanner_align": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1835670460090759 |
| }, |
| "scanner_grasp+object_grasp": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.28584141319673584 |
| }, |
| "scanner_lift+object_lift": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.32377260072288194 |
| } |
| }, |
| "physics_steps_checked": 2179 |
| }, |
| "episode": 44, |
| "frames": 165, |
| "plan_success": true, |
| "renderer_validation": { |
| "camera_shader": "rt", |
| "episode": 44, |
| "ray_tracing_denoiser": "optix", |
| "status": "passed" |
| }, |
| "replay_success": true, |
| "seed": 200, |
| "source_commits": { |
| "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", |
| "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" |
| }, |
| "task_specific_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| -0.03072969987988472, |
| -0.019744306802749634, |
| 0.9505329728126526 |
| ], |
| "scanner_functional_point": [ |
| 0.018937154985793823, |
| -0.006652325646427926, |
| 0.9558456579954197, |
| 0.3642032217297909, |
| 0.6058781560085399, |
| -0.364760656000638, |
| -0.6059846014440601 |
| ] |
| }, |
| "task_success": true, |
| "timing_summary": { |
| "active_left_frames": 107, |
| "active_right_frames": 101, |
| "active_union_frames": 139, |
| "avoidable_idle_seconds": 2.352, |
| "frames": 165, |
| "overlap_frames": 69, |
| "overlap_ratio_active": 0.49640287769784175, |
| "overlap_ratio_all": 0.41818181818181815, |
| "overlap_seconds": 2.3, |
| "seconds": 5.5, |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| "training_action_collision_safe": true, |
| "training_action_count": 164, |
| "training_action_execution_intervals": [ |
| { |
| "action_index": 0, |
| "end_physics_step": 50, |
| "physics_steps": 50, |
| "start_physics_step": 0 |
| }, |
| { |
| "action_index": 1, |
| "end_physics_step": 63, |
| "physics_steps": 13, |
| "start_physics_step": 50 |
| }, |
| { |
| "action_index": 2, |
| "end_physics_step": 114, |
| "physics_steps": 51, |
| "start_physics_step": 63 |
| }, |
| { |
| "action_index": 3, |
| "end_physics_step": 187, |
| "physics_steps": 73, |
| "start_physics_step": 114 |
| }, |
| { |
| "action_index": 4, |
| "end_physics_step": 276, |
| "physics_steps": 89, |
| "start_physics_step": 187 |
| }, |
| { |
| "action_index": 5, |
| "end_physics_step": 379, |
| "physics_steps": 103, |
| "start_physics_step": 276 |
| }, |
| { |
| "action_index": 6, |
| "end_physics_step": 494, |
| "physics_steps": 115, |
| "start_physics_step": 379 |
| }, |
| { |
| "action_index": 7, |
| "end_physics_step": 619, |
| "physics_steps": 125, |
| "start_physics_step": 494 |
| }, |
| { |
| "action_index": 8, |
| "end_physics_step": 753, |
| "physics_steps": 134, |
| "start_physics_step": 619 |
| }, |
| { |
| "action_index": 9, |
| "end_physics_step": 894, |
| "physics_steps": 141, |
| "start_physics_step": 753 |
| }, |
| { |
| "action_index": 10, |
| "end_physics_step": 1041, |
| "physics_steps": 147, |
| "start_physics_step": 894 |
| }, |
| { |
| "action_index": 11, |
| "end_physics_step": 1192, |
| "physics_steps": 151, |
| "start_physics_step": 1041 |
| }, |
| { |
| "action_index": 12, |
| "end_physics_step": 1347, |
| "physics_steps": 155, |
| "start_physics_step": 1192 |
| }, |
| { |
| "action_index": 13, |
| "end_physics_step": 1504, |
| "physics_steps": 157, |
| "start_physics_step": 1347 |
| }, |
| { |
| "action_index": 14, |
| "end_physics_step": 1662, |
| "physics_steps": 158, |
| "start_physics_step": 1504 |
| }, |
| { |
| "action_index": 15, |
| "end_physics_step": 1820, |
| "physics_steps": 158, |
| "start_physics_step": 1662 |
| }, |
| { |
| "action_index": 16, |
| "end_physics_step": 1976, |
| "physics_steps": 156, |
| "start_physics_step": 1820 |
| }, |
| { |
| "action_index": 17, |
| "end_physics_step": 2130, |
| "physics_steps": 154, |
| "start_physics_step": 1976 |
| }, |
| { |
| "action_index": 18, |
| "end_physics_step": 2281, |
| "physics_steps": 151, |
| "start_physics_step": 2130 |
| }, |
| { |
| "action_index": 19, |
| "end_physics_step": 2427, |
| "physics_steps": 146, |
| "start_physics_step": 2281 |
| }, |
| { |
| "action_index": 20, |
| "end_physics_step": 2567, |
| "physics_steps": 140, |
| "start_physics_step": 2427 |
| }, |
| { |
| "action_index": 21, |
| "end_physics_step": 2700, |
| "physics_steps": 133, |
| "start_physics_step": 2567 |
| }, |
| { |
| "action_index": 22, |
| "end_physics_step": 2823, |
| "physics_steps": 123, |
| "start_physics_step": 2700 |
| }, |
| { |
| "action_index": 23, |
| "end_physics_step": 2935, |
| "physics_steps": 112, |
| "start_physics_step": 2823 |
| }, |
| { |
| "action_index": 24, |
| "end_physics_step": 3035, |
| "physics_steps": 100, |
| "start_physics_step": 2935 |
| }, |
| { |
| "action_index": 25, |
| "end_physics_step": 3120, |
| "physics_steps": 85, |
| "start_physics_step": 3035 |
| }, |
| { |
| "action_index": 26, |
| "end_physics_step": 3187, |
| "physics_steps": 67, |
| "start_physics_step": 3120 |
| }, |
| { |
| "action_index": 27, |
| "end_physics_step": 3230, |
| "physics_steps": 43, |
| "start_physics_step": 3187 |
| }, |
| { |
| "action_index": 28, |
| "end_physics_step": 3280, |
| "physics_steps": 50, |
| "start_physics_step": 3230 |
| }, |
| { |
| "action_index": 29, |
| "end_physics_step": 3330, |
| "physics_steps": 50, |
| "start_physics_step": 3280 |
| }, |
| { |
| "action_index": 30, |
| "end_physics_step": 3380, |
| "physics_steps": 50, |
| "start_physics_step": 3330 |
| }, |
| { |
| "action_index": 31, |
| "end_physics_step": 3416, |
| "physics_steps": 36, |
| "start_physics_step": 3380 |
| }, |
| { |
| "action_index": 32, |
| "end_physics_step": 3444, |
| "physics_steps": 28, |
| "start_physics_step": 3416 |
| }, |
| { |
| "action_index": 33, |
| "end_physics_step": 3500, |
| "physics_steps": 56, |
| "start_physics_step": 3444 |
| }, |
| { |
| "action_index": 34, |
| "end_physics_step": 3576, |
| "physics_steps": 76, |
| "start_physics_step": 3500 |
| }, |
| { |
| "action_index": 35, |
| "end_physics_step": 3668, |
| "physics_steps": 92, |
| "start_physics_step": 3576 |
| }, |
| { |
| "action_index": 36, |
| "end_physics_step": 3772, |
| "physics_steps": 104, |
| "start_physics_step": 3668 |
| }, |
| { |
| "action_index": 37, |
| "end_physics_step": 3883, |
| "physics_steps": 111, |
| "start_physics_step": 3772 |
| }, |
| { |
| "action_index": 38, |
| "end_physics_step": 3993, |
| "physics_steps": 110, |
| "start_physics_step": 3883 |
| }, |
| { |
| "action_index": 39, |
| "end_physics_step": 4095, |
| "physics_steps": 102, |
| "start_physics_step": 3993 |
| }, |
| { |
| "action_index": 40, |
| "end_physics_step": 4184, |
| "physics_steps": 89, |
| "start_physics_step": 4095 |
| }, |
| { |
| "action_index": 41, |
| "end_physics_step": 4256, |
| "physics_steps": 72, |
| "start_physics_step": 4184 |
| }, |
| { |
| "action_index": 42, |
| "end_physics_step": 4306, |
| "physics_steps": 50, |
| "start_physics_step": 4256 |
| }, |
| { |
| "action_index": 43, |
| "end_physics_step": 4322, |
| "physics_steps": 16, |
| "start_physics_step": 4306 |
| }, |
| { |
| "action_index": 44, |
| "end_physics_step": 4372, |
| "physics_steps": 50, |
| "start_physics_step": 4322 |
| }, |
| { |
| "action_index": 45, |
| "end_physics_step": 4422, |
| "physics_steps": 50, |
| "start_physics_step": 4372 |
| }, |
| { |
| "action_index": 46, |
| "end_physics_step": 4472, |
| "physics_steps": 50, |
| "start_physics_step": 4422 |
| }, |
| { |
| "action_index": 47, |
| "end_physics_step": 4522, |
| "physics_steps": 50, |
| "start_physics_step": 4472 |
| }, |
| { |
| "action_index": 48, |
| "end_physics_step": 4572, |
| "physics_steps": 50, |
| "start_physics_step": 4522 |
| }, |
| { |
| "action_index": 49, |
| "end_physics_step": 4622, |
| "physics_steps": 50, |
| "start_physics_step": 4572 |
| }, |
| { |
| "action_index": 50, |
| "end_physics_step": 4672, |
| "physics_steps": 50, |
| "start_physics_step": 4622 |
| }, |
| { |
| "action_index": 51, |
| "end_physics_step": 4722, |
| "physics_steps": 50, |
| "start_physics_step": 4672 |
| }, |
| { |
| "action_index": 52, |
| "end_physics_step": 4772, |
| "physics_steps": 50, |
| "start_physics_step": 4722 |
| }, |
| { |
| "action_index": 53, |
| "end_physics_step": 4822, |
| "physics_steps": 50, |
| "start_physics_step": 4772 |
| }, |
| { |
| "action_index": 54, |
| "end_physics_step": 4872, |
| "physics_steps": 50, |
| "start_physics_step": 4822 |
| }, |
| { |
| "action_index": 55, |
| "end_physics_step": 4922, |
| "physics_steps": 50, |
| "start_physics_step": 4872 |
| }, |
| { |
| "action_index": 56, |
| "end_physics_step": 4972, |
| "physics_steps": 50, |
| "start_physics_step": 4922 |
| }, |
| { |
| "action_index": 57, |
| "end_physics_step": 5022, |
| "physics_steps": 50, |
| "start_physics_step": 4972 |
| }, |
| { |
| "action_index": 58, |
| "end_physics_step": 5072, |
| "physics_steps": 50, |
| "start_physics_step": 5022 |
| }, |
| { |
| "action_index": 59, |
| "end_physics_step": 5122, |
| "physics_steps": 50, |
| "start_physics_step": 5072 |
| }, |
| { |
| "action_index": 60, |
| "end_physics_step": 5172, |
| "physics_steps": 50, |
| "start_physics_step": 5122 |
| }, |
| { |
| "action_index": 61, |
| "end_physics_step": 5222, |
| "physics_steps": 50, |
| "start_physics_step": 5172 |
| }, |
| { |
| "action_index": 62, |
| "end_physics_step": 5272, |
| "physics_steps": 50, |
| "start_physics_step": 5222 |
| }, |
| { |
| "action_index": 63, |
| "end_physics_step": 5322, |
| "physics_steps": 50, |
| "start_physics_step": 5272 |
| }, |
| { |
| "action_index": 64, |
| "end_physics_step": 5372, |
| "physics_steps": 50, |
| "start_physics_step": 5322 |
| }, |
| { |
| "action_index": 65, |
| "end_physics_step": 5422, |
| "physics_steps": 50, |
| "start_physics_step": 5372 |
| }, |
| { |
| "action_index": 66, |
| "end_physics_step": 5472, |
| "physics_steps": 50, |
| "start_physics_step": 5422 |
| }, |
| { |
| "action_index": 67, |
| "end_physics_step": 5522, |
| "physics_steps": 50, |
| "start_physics_step": 5472 |
| }, |
| { |
| "action_index": 68, |
| "end_physics_step": 5543, |
| "physics_steps": 21, |
| "start_physics_step": 5522 |
| }, |
| { |
| "action_index": 69, |
| "end_physics_step": 5568, |
| "physics_steps": 25, |
| "start_physics_step": 5543 |
| }, |
| { |
| "action_index": 70, |
| "end_physics_step": 5625, |
| "physics_steps": 57, |
| "start_physics_step": 5568 |
| }, |
| { |
| "action_index": 71, |
| "end_physics_step": 5702, |
| "physics_steps": 77, |
| "start_physics_step": 5625 |
| }, |
| { |
| "action_index": 72, |
| "end_physics_step": 5794, |
| "physics_steps": 92, |
| "start_physics_step": 5702 |
| }, |
| { |
| "action_index": 73, |
| "end_physics_step": 5900, |
| "physics_steps": 106, |
| "start_physics_step": 5794 |
| }, |
| { |
| "action_index": 74, |
| "end_physics_step": 6017, |
| "physics_steps": 117, |
| "start_physics_step": 5900 |
| }, |
| { |
| "action_index": 75, |
| "end_physics_step": 6144, |
| "physics_steps": 127, |
| "start_physics_step": 6017 |
| }, |
| { |
| "action_index": 76, |
| "end_physics_step": 6269, |
| "physics_steps": 125, |
| "start_physics_step": 6144 |
| }, |
| { |
| "action_index": 77, |
| "end_physics_step": 6394, |
| "physics_steps": 125, |
| "start_physics_step": 6269 |
| }, |
| { |
| "action_index": 78, |
| "end_physics_step": 6509, |
| "physics_steps": 115, |
| "start_physics_step": 6394 |
| }, |
| { |
| "action_index": 79, |
| "end_physics_step": 6613, |
| "physics_steps": 104, |
| "start_physics_step": 6509 |
| }, |
| { |
| "action_index": 80, |
| "end_physics_step": 6703, |
| "physics_steps": 90, |
| "start_physics_step": 6613 |
| }, |
| { |
| "action_index": 81, |
| "end_physics_step": 6777, |
| "physics_steps": 74, |
| "start_physics_step": 6703 |
| }, |
| { |
| "action_index": 82, |
| "end_physics_step": 6829, |
| "physics_steps": 52, |
| "start_physics_step": 6777 |
| }, |
| { |
| "action_index": 83, |
| "end_physics_step": 6849, |
| "physics_steps": 20, |
| "start_physics_step": 6829 |
| }, |
| { |
| "action_index": 84, |
| "end_physics_step": 6899, |
| "physics_steps": 50, |
| "start_physics_step": 6849 |
| }, |
| { |
| "action_index": 85, |
| "end_physics_step": 6949, |
| "physics_steps": 50, |
| "start_physics_step": 6899 |
| }, |
| { |
| "action_index": 86, |
| "end_physics_step": 6999, |
| "physics_steps": 50, |
| "start_physics_step": 6949 |
| }, |
| { |
| "action_index": 87, |
| "end_physics_step": 7049, |
| "physics_steps": 50, |
| "start_physics_step": 6999 |
| }, |
| { |
| "action_index": 88, |
| "end_physics_step": 7099, |
| "physics_steps": 50, |
| "start_physics_step": 7049 |
| }, |
| { |
| "action_index": 89, |
| "end_physics_step": 7168, |
| "physics_steps": 69, |
| "start_physics_step": 7099 |
| }, |
| { |
| "action_index": 90, |
| "end_physics_step": 7253, |
| "physics_steps": 85, |
| "start_physics_step": 7168 |
| }, |
| { |
| "action_index": 91, |
| "end_physics_step": 7351, |
| "physics_steps": 98, |
| "start_physics_step": 7253 |
| }, |
| { |
| "action_index": 92, |
| "end_physics_step": 7459, |
| "physics_steps": 108, |
| "start_physics_step": 7351 |
| }, |
| { |
| "action_index": 93, |
| "end_physics_step": 7576, |
| "physics_steps": 117, |
| "start_physics_step": 7459 |
| }, |
| { |
| "action_index": 94, |
| "end_physics_step": 7701, |
| "physics_steps": 125, |
| "start_physics_step": 7576 |
| }, |
| { |
| "action_index": 95, |
| "end_physics_step": 7834, |
| "physics_steps": 133, |
| "start_physics_step": 7701 |
| }, |
| { |
| "action_index": 96, |
| "end_physics_step": 7974, |
| "physics_steps": 140, |
| "start_physics_step": 7834 |
| }, |
| { |
| "action_index": 97, |
| "end_physics_step": 8119, |
| "physics_steps": 145, |
| "start_physics_step": 7974 |
| }, |
| { |
| "action_index": 98, |
| "end_physics_step": 8266, |
| "physics_steps": 147, |
| "start_physics_step": 8119 |
| }, |
| { |
| "action_index": 99, |
| "end_physics_step": 8414, |
| "physics_steps": 148, |
| "start_physics_step": 8266 |
| }, |
| { |
| "action_index": 100, |
| "end_physics_step": 8563, |
| "physics_steps": 149, |
| "start_physics_step": 8414 |
| }, |
| { |
| "action_index": 101, |
| "end_physics_step": 8714, |
| "physics_steps": 151, |
| "start_physics_step": 8563 |
| }, |
| { |
| "action_index": 102, |
| "end_physics_step": 8867, |
| "physics_steps": 153, |
| "start_physics_step": 8714 |
| }, |
| { |
| "action_index": 103, |
| "end_physics_step": 9023, |
| "physics_steps": 156, |
| "start_physics_step": 8867 |
| }, |
| { |
| "action_index": 104, |
| "end_physics_step": 9182, |
| "physics_steps": 159, |
| "start_physics_step": 9023 |
| }, |
| { |
| "action_index": 105, |
| "end_physics_step": 9343, |
| "physics_steps": 161, |
| "start_physics_step": 9182 |
| }, |
| { |
| "action_index": 106, |
| "end_physics_step": 9505, |
| "physics_steps": 162, |
| "start_physics_step": 9343 |
| }, |
| { |
| "action_index": 107, |
| "end_physics_step": 9668, |
| "physics_steps": 163, |
| "start_physics_step": 9505 |
| }, |
| { |
| "action_index": 108, |
| "end_physics_step": 9829, |
| "physics_steps": 161, |
| "start_physics_step": 9668 |
| }, |
| { |
| "action_index": 109, |
| "end_physics_step": 9986, |
| "physics_steps": 157, |
| "start_physics_step": 9829 |
| }, |
| { |
| "action_index": 110, |
| "end_physics_step": 10137, |
| "physics_steps": 151, |
| "start_physics_step": 9986 |
| }, |
| { |
| "action_index": 111, |
| "end_physics_step": 10281, |
| "physics_steps": 144, |
| "start_physics_step": 10137 |
| }, |
| { |
| "action_index": 112, |
| "end_physics_step": 10416, |
| "physics_steps": 135, |
| "start_physics_step": 10281 |
| }, |
| { |
| "action_index": 113, |
| "end_physics_step": 10541, |
| "physics_steps": 125, |
| "start_physics_step": 10416 |
| }, |
| { |
| "action_index": 114, |
| "end_physics_step": 10656, |
| "physics_steps": 115, |
| "start_physics_step": 10541 |
| }, |
| { |
| "action_index": 115, |
| "end_physics_step": 10759, |
| "physics_steps": 103, |
| "start_physics_step": 10656 |
| }, |
| { |
| "action_index": 116, |
| "end_physics_step": 10848, |
| "physics_steps": 89, |
| "start_physics_step": 10759 |
| }, |
| { |
| "action_index": 117, |
| "end_physics_step": 10921, |
| "physics_steps": 73, |
| "start_physics_step": 10848 |
| }, |
| { |
| "action_index": 118, |
| "end_physics_step": 10973, |
| "physics_steps": 52, |
| "start_physics_step": 10921 |
| }, |
| { |
| "action_index": 119, |
| "end_physics_step": 11023, |
| "physics_steps": 50, |
| "start_physics_step": 10973 |
| }, |
| { |
| "action_index": 120, |
| "end_physics_step": 11073, |
| "physics_steps": 50, |
| "start_physics_step": 11023 |
| }, |
| { |
| "action_index": 121, |
| "end_physics_step": 11123, |
| "physics_steps": 50, |
| "start_physics_step": 11073 |
| }, |
| { |
| "action_index": 122, |
| "end_physics_step": 11173, |
| "physics_steps": 50, |
| "start_physics_step": 11123 |
| }, |
| { |
| "action_index": 123, |
| "end_physics_step": 11223, |
| "physics_steps": 50, |
| "start_physics_step": 11173 |
| }, |
| { |
| "action_index": 124, |
| "end_physics_step": 11273, |
| "physics_steps": 50, |
| "start_physics_step": 11223 |
| }, |
| { |
| "action_index": 125, |
| "end_physics_step": 11323, |
| "physics_steps": 50, |
| "start_physics_step": 11273 |
| }, |
| { |
| "action_index": 126, |
| "end_physics_step": 11373, |
| "physics_steps": 50, |
| "start_physics_step": 11323 |
| }, |
| { |
| "action_index": 127, |
| "end_physics_step": 11423, |
| "physics_steps": 50, |
| "start_physics_step": 11373 |
| }, |
| { |
| "action_index": 128, |
| "end_physics_step": 11473, |
| "physics_steps": 50, |
| "start_physics_step": 11423 |
| }, |
| { |
| "action_index": 129, |
| "end_physics_step": 11523, |
| "physics_steps": 50, |
| "start_physics_step": 11473 |
| }, |
| { |
| "action_index": 130, |
| "end_physics_step": 11573, |
| "physics_steps": 50, |
| "start_physics_step": 11523 |
| }, |
| { |
| "action_index": 131, |
| "end_physics_step": 11623, |
| "physics_steps": 50, |
| "start_physics_step": 11573 |
| }, |
| { |
| "action_index": 132, |
| "end_physics_step": 11676, |
| "physics_steps": 53, |
| "start_physics_step": 11623 |
| }, |
| { |
| "action_index": 133, |
| "end_physics_step": 11749, |
| "physics_steps": 73, |
| "start_physics_step": 11676 |
| }, |
| { |
| "action_index": 134, |
| "end_physics_step": 11838, |
| "physics_steps": 89, |
| "start_physics_step": 11749 |
| }, |
| { |
| "action_index": 135, |
| "end_physics_step": 11942, |
| "physics_steps": 104, |
| "start_physics_step": 11838 |
| }, |
| { |
| "action_index": 136, |
| "end_physics_step": 12058, |
| "physics_steps": 116, |
| "start_physics_step": 11942 |
| }, |
| { |
| "action_index": 137, |
| "end_physics_step": 12184, |
| "physics_steps": 126, |
| "start_physics_step": 12058 |
| }, |
| { |
| "action_index": 138, |
| "end_physics_step": 12318, |
| "physics_steps": 134, |
| "start_physics_step": 12184 |
| }, |
| { |
| "action_index": 139, |
| "end_physics_step": 12460, |
| "physics_steps": 142, |
| "start_physics_step": 12318 |
| }, |
| { |
| "action_index": 140, |
| "end_physics_step": 12607, |
| "physics_steps": 147, |
| "start_physics_step": 12460 |
| }, |
| { |
| "action_index": 141, |
| "end_physics_step": 12758, |
| "physics_steps": 151, |
| "start_physics_step": 12607 |
| }, |
| { |
| "action_index": 142, |
| "end_physics_step": 12912, |
| "physics_steps": 154, |
| "start_physics_step": 12758 |
| }, |
| { |
| "action_index": 143, |
| "end_physics_step": 13066, |
| "physics_steps": 154, |
| "start_physics_step": 12912 |
| }, |
| { |
| "action_index": 144, |
| "end_physics_step": 13219, |
| "physics_steps": 153, |
| "start_physics_step": 13066 |
| }, |
| { |
| "action_index": 145, |
| "end_physics_step": 13368, |
| "physics_steps": 149, |
| "start_physics_step": 13219 |
| }, |
| { |
| "action_index": 146, |
| "end_physics_step": 13511, |
| "physics_steps": 143, |
| "start_physics_step": 13368 |
| }, |
| { |
| "action_index": 147, |
| "end_physics_step": 13646, |
| "physics_steps": 135, |
| "start_physics_step": 13511 |
| }, |
| { |
| "action_index": 148, |
| "end_physics_step": 13766, |
| "physics_steps": 120, |
| "start_physics_step": 13646 |
| } |
| ], |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", |
| "training_action_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| -0.03052424266934395, |
| -0.019907034933567047, |
| 0.9506813287734985 |
| ], |
| "scanner_functional_point": [ |
| 0.03402998703966062, |
| -0.022873570734770962, |
| 0.9362837131878792, |
| 0.35553088455686116, |
| 0.664859432010392, |
| -0.3810370324850699, |
| -0.5351359693274287 |
| ] |
| }, |
| "training_action_input_frames": 165, |
| "training_action_interarm_contact_steps": 0, |
| "training_action_minimum_capsule_distance_m": 0.20011566020533067, |
| "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": 13766, |
| "training_actions_executed": 149 |
| } |
|
|
