| { |
| "artifacts_complete": true, |
| "camera_validation": { |
| "episode": 46, |
| "fovy_deg": { |
| "left": 90.0, |
| "right": 90.0 |
| }, |
| "frames": 172, |
| "head_unique_frame_ratio": 0.9593023255813954, |
| "main_camera_policy": "native_dynamic", |
| "maximum_mount_distance_error_m": 4.9632194021320686e-08, |
| "maximum_wrist_consecutive_dark_frames": 0, |
| "maximum_wrist_dark_frame_fraction": 0.0, |
| "minimum_wrist_median_luminance": 193.25858289930557, |
| "parallel_head_unique_frame_ratio": 0.967391304347826, |
| "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": 194.21527994791666, |
| "right": 193.25858289930557 |
| } |
| }, |
| "collision_safe": true, |
| "collision_summary": { |
| "contact_step_indices": [], |
| "first_risk_step": null, |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1410616024609888, |
| "moves": { |
| "object_place": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.2616340132400854 |
| }, |
| "scanner_align": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.17739049176736468 |
| }, |
| "scanner_grasp+object_grasp": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.1410616024609888 |
| }, |
| "scanner_lift+object_lift": { |
| "contact_step_indices": [], |
| "interarm_contact_steps": 0, |
| "minimum_capsule_distance_m": 0.17718274684996344 |
| } |
| }, |
| "physics_steps_checked": 2290 |
| }, |
| "episode": 46, |
| "frames": 172, |
| "plan_success": true, |
| "renderer_validation": { |
| "camera_shader": "rt", |
| "episode": 46, |
| "ray_tracing_denoiser": "optix", |
| "status": "passed" |
| }, |
| "replay_success": true, |
| "seed": 189, |
| "source_commits": { |
| "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", |
| "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" |
| }, |
| "task_specific_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| -0.02912171185016632, |
| -0.020861493423581123, |
| 0.9505760073661804 |
| ], |
| "scanner_functional_point": [ |
| 0.01663285875304496, |
| -0.005987408168363399, |
| 0.9721329772071181, |
| 0.21580760255252673, |
| 0.6720614255786682, |
| -0.21823454827130206, |
| -0.6738947995574086 |
| ] |
| }, |
| "task_success": true, |
| "timing_summary": { |
| "active_left_frames": 118, |
| "active_right_frames": 102, |
| "active_union_frames": 145, |
| "avoidable_idle_seconds": 2.644, |
| "frames": 172, |
| "overlap_frames": 75, |
| "overlap_ratio_active": 0.5172413793103449, |
| "overlap_ratio_all": 0.436046511627907, |
| "overlap_seconds": 2.5, |
| "seconds": 5.733333333333333, |
| "true_dependency_wait_seconds": 0.0 |
| }, |
| "training_action_collision_safe": true, |
| "training_action_count": 171, |
| "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": 648, |
| "physics_steps": 124, |
| "start_physics_step": 524 |
| }, |
| { |
| "action_index": 8, |
| "end_physics_step": 780, |
| "physics_steps": 132, |
| "start_physics_step": 648 |
| }, |
| { |
| "action_index": 9, |
| "end_physics_step": 920, |
| "physics_steps": 140, |
| "start_physics_step": 780 |
| }, |
| { |
| "action_index": 10, |
| "end_physics_step": 1066, |
| "physics_steps": 146, |
| "start_physics_step": 920 |
| }, |
| { |
| "action_index": 11, |
| "end_physics_step": 1218, |
| "physics_steps": 152, |
| "start_physics_step": 1066 |
| }, |
| { |
| "action_index": 12, |
| "end_physics_step": 1374, |
| "physics_steps": 156, |
| "start_physics_step": 1218 |
| }, |
| { |
| "action_index": 13, |
| "end_physics_step": 1533, |
| "physics_steps": 159, |
| "start_physics_step": 1374 |
| }, |
| { |
| "action_index": 14, |
| "end_physics_step": 1695, |
| "physics_steps": 162, |
| "start_physics_step": 1533 |
| }, |
| { |
| "action_index": 15, |
| "end_physics_step": 1858, |
| "physics_steps": 163, |
| "start_physics_step": 1695 |
| }, |
| { |
| "action_index": 16, |
| "end_physics_step": 2022, |
| "physics_steps": 164, |
| "start_physics_step": 1858 |
| }, |
| { |
| "action_index": 17, |
| "end_physics_step": 2186, |
| "physics_steps": 164, |
| "start_physics_step": 2022 |
| }, |
| { |
| "action_index": 18, |
| "end_physics_step": 2349, |
| "physics_steps": 163, |
| "start_physics_step": 2186 |
| }, |
| { |
| "action_index": 19, |
| "end_physics_step": 2511, |
| "physics_steps": 162, |
| "start_physics_step": 2349 |
| }, |
| { |
| "action_index": 20, |
| "end_physics_step": 2670, |
| "physics_steps": 159, |
| "start_physics_step": 2511 |
| }, |
| { |
| "action_index": 21, |
| "end_physics_step": 2826, |
| "physics_steps": 156, |
| "start_physics_step": 2670 |
| }, |
| { |
| "action_index": 22, |
| "end_physics_step": 2977, |
| "physics_steps": 151, |
| "start_physics_step": 2826 |
| }, |
| { |
| "action_index": 23, |
| "end_physics_step": 3123, |
| "physics_steps": 146, |
| "start_physics_step": 2977 |
| }, |
| { |
| "action_index": 24, |
| "end_physics_step": 3262, |
| "physics_steps": 139, |
| "start_physics_step": 3123 |
| }, |
| { |
| "action_index": 25, |
| "end_physics_step": 3393, |
| "physics_steps": 131, |
| "start_physics_step": 3262 |
| }, |
| { |
| "action_index": 26, |
| "end_physics_step": 3515, |
| "physics_steps": 122, |
| "start_physics_step": 3393 |
| }, |
| { |
| "action_index": 27, |
| "end_physics_step": 3626, |
| "physics_steps": 111, |
| "start_physics_step": 3515 |
| }, |
| { |
| "action_index": 28, |
| "end_physics_step": 3724, |
| "physics_steps": 98, |
| "start_physics_step": 3626 |
| }, |
| { |
| "action_index": 29, |
| "end_physics_step": 3808, |
| "physics_steps": 84, |
| "start_physics_step": 3724 |
| }, |
| { |
| "action_index": 30, |
| "end_physics_step": 3874, |
| "physics_steps": 66, |
| "start_physics_step": 3808 |
| }, |
| { |
| "action_index": 31, |
| "end_physics_step": 3916, |
| "physics_steps": 42, |
| "start_physics_step": 3874 |
| }, |
| { |
| "action_index": 32, |
| "end_physics_step": 3966, |
| "physics_steps": 50, |
| "start_physics_step": 3916 |
| }, |
| { |
| "action_index": 33, |
| "end_physics_step": 4016, |
| "physics_steps": 50, |
| "start_physics_step": 3966 |
| }, |
| { |
| "action_index": 34, |
| "end_physics_step": 4066, |
| "physics_steps": 50, |
| "start_physics_step": 4016 |
| }, |
| { |
| "action_index": 35, |
| "end_physics_step": 4104, |
| "physics_steps": 38, |
| "start_physics_step": 4066 |
| }, |
| { |
| "action_index": 36, |
| "end_physics_step": 4131, |
| "physics_steps": 27, |
| "start_physics_step": 4104 |
| }, |
| { |
| "action_index": 37, |
| "end_physics_step": 4188, |
| "physics_steps": 57, |
| "start_physics_step": 4131 |
| }, |
| { |
| "action_index": 38, |
| "end_physics_step": 4261, |
| "physics_steps": 73, |
| "start_physics_step": 4188 |
| }, |
| { |
| "action_index": 39, |
| "end_physics_step": 4346, |
| "physics_steps": 85, |
| "start_physics_step": 4261 |
| }, |
| { |
| "action_index": 40, |
| "end_physics_step": 4438, |
| "physics_steps": 92, |
| "start_physics_step": 4346 |
| }, |
| { |
| "action_index": 41, |
| "end_physics_step": 4534, |
| "physics_steps": 96, |
| "start_physics_step": 4438 |
| }, |
| { |
| "action_index": 42, |
| "end_physics_step": 4633, |
| "physics_steps": 99, |
| "start_physics_step": 4534 |
| }, |
| { |
| "action_index": 43, |
| "end_physics_step": 4731, |
| "physics_steps": 98, |
| "start_physics_step": 4633 |
| }, |
| { |
| "action_index": 44, |
| "end_physics_step": 4825, |
| "physics_steps": 94, |
| "start_physics_step": 4731 |
| }, |
| { |
| "action_index": 45, |
| "end_physics_step": 4912, |
| "physics_steps": 87, |
| "start_physics_step": 4825 |
| }, |
| { |
| "action_index": 46, |
| "end_physics_step": 4987, |
| "physics_steps": 75, |
| "start_physics_step": 4912 |
| }, |
| { |
| "action_index": 47, |
| "end_physics_step": 5042, |
| "physics_steps": 55, |
| "start_physics_step": 4987 |
| }, |
| { |
| "action_index": 48, |
| "end_physics_step": 5065, |
| "physics_steps": 23, |
| "start_physics_step": 5042 |
| }, |
| { |
| "action_index": 49, |
| "end_physics_step": 5115, |
| "physics_steps": 50, |
| "start_physics_step": 5065 |
| }, |
| { |
| "action_index": 50, |
| "end_physics_step": 5165, |
| "physics_steps": 50, |
| "start_physics_step": 5115 |
| }, |
| { |
| "action_index": 51, |
| "end_physics_step": 5215, |
| "physics_steps": 50, |
| "start_physics_step": 5165 |
| }, |
| { |
| "action_index": 52, |
| "end_physics_step": 5265, |
| "physics_steps": 50, |
| "start_physics_step": 5215 |
| }, |
| { |
| "action_index": 53, |
| "end_physics_step": 5315, |
| "physics_steps": 50, |
| "start_physics_step": 5265 |
| }, |
| { |
| "action_index": 54, |
| "end_physics_step": 5365, |
| "physics_steps": 50, |
| "start_physics_step": 5315 |
| }, |
| { |
| "action_index": 55, |
| "end_physics_step": 5415, |
| "physics_steps": 50, |
| "start_physics_step": 5365 |
| }, |
| { |
| "action_index": 56, |
| "end_physics_step": 5465, |
| "physics_steps": 50, |
| "start_physics_step": 5415 |
| }, |
| { |
| "action_index": 57, |
| "end_physics_step": 5515, |
| "physics_steps": 50, |
| "start_physics_step": 5465 |
| }, |
| { |
| "action_index": 58, |
| "end_physics_step": 5565, |
| "physics_steps": 50, |
| "start_physics_step": 5515 |
| }, |
| { |
| "action_index": 59, |
| "end_physics_step": 5615, |
| "physics_steps": 50, |
| "start_physics_step": 5565 |
| }, |
| { |
| "action_index": 60, |
| "end_physics_step": 5665, |
| "physics_steps": 50, |
| "start_physics_step": 5615 |
| }, |
| { |
| "action_index": 61, |
| "end_physics_step": 5715, |
| "physics_steps": 50, |
| "start_physics_step": 5665 |
| }, |
| { |
| "action_index": 62, |
| "end_physics_step": 5765, |
| "physics_steps": 50, |
| "start_physics_step": 5715 |
| }, |
| { |
| "action_index": 63, |
| "end_physics_step": 5815, |
| "physics_steps": 50, |
| "start_physics_step": 5765 |
| }, |
| { |
| "action_index": 64, |
| "end_physics_step": 5865, |
| "physics_steps": 50, |
| "start_physics_step": 5815 |
| }, |
| { |
| "action_index": 65, |
| "end_physics_step": 5915, |
| "physics_steps": 50, |
| "start_physics_step": 5865 |
| }, |
| { |
| "action_index": 66, |
| "end_physics_step": 5965, |
| "physics_steps": 50, |
| "start_physics_step": 5915 |
| }, |
| { |
| "action_index": 67, |
| "end_physics_step": 6015, |
| "physics_steps": 50, |
| "start_physics_step": 5965 |
| }, |
| { |
| "action_index": 68, |
| "end_physics_step": 6065, |
| "physics_steps": 50, |
| "start_physics_step": 6015 |
| }, |
| { |
| "action_index": 69, |
| "end_physics_step": 6115, |
| "physics_steps": 50, |
| "start_physics_step": 6065 |
| }, |
| { |
| "action_index": 70, |
| "end_physics_step": 6165, |
| "physics_steps": 50, |
| "start_physics_step": 6115 |
| }, |
| { |
| "action_index": 71, |
| "end_physics_step": 6215, |
| "physics_steps": 50, |
| "start_physics_step": 6165 |
| }, |
| { |
| "action_index": 72, |
| "end_physics_step": 6265, |
| "physics_steps": 50, |
| "start_physics_step": 6215 |
| }, |
| { |
| "action_index": 73, |
| "end_physics_step": 6285, |
| "physics_steps": 20, |
| "start_physics_step": 6265 |
| }, |
| { |
| "action_index": 74, |
| "end_physics_step": 6309, |
| "physics_steps": 24, |
| "start_physics_step": 6285 |
| }, |
| { |
| "action_index": 75, |
| "end_physics_step": 6365, |
| "physics_steps": 56, |
| "start_physics_step": 6309 |
| }, |
| { |
| "action_index": 76, |
| "end_physics_step": 6440, |
| "physics_steps": 75, |
| "start_physics_step": 6365 |
| }, |
| { |
| "action_index": 77, |
| "end_physics_step": 6530, |
| "physics_steps": 90, |
| "start_physics_step": 6440 |
| }, |
| { |
| "action_index": 78, |
| "end_physics_step": 6632, |
| "physics_steps": 102, |
| "start_physics_step": 6530 |
| }, |
| { |
| "action_index": 79, |
| "end_physics_step": 6740, |
| "physics_steps": 108, |
| "start_physics_step": 6632 |
| }, |
| { |
| "action_index": 80, |
| "end_physics_step": 6849, |
| "physics_steps": 109, |
| "start_physics_step": 6740 |
| }, |
| { |
| "action_index": 81, |
| "end_physics_step": 6960, |
| "physics_steps": 111, |
| "start_physics_step": 6849 |
| }, |
| { |
| "action_index": 82, |
| "end_physics_step": 7072, |
| "physics_steps": 112, |
| "start_physics_step": 6960 |
| }, |
| { |
| "action_index": 83, |
| "end_physics_step": 7182, |
| "physics_steps": 110, |
| "start_physics_step": 7072 |
| }, |
| { |
| "action_index": 84, |
| "end_physics_step": 7294, |
| "physics_steps": 112, |
| "start_physics_step": 7182 |
| }, |
| { |
| "action_index": 85, |
| "end_physics_step": 7395, |
| "physics_steps": 101, |
| "start_physics_step": 7294 |
| }, |
| { |
| "action_index": 86, |
| "end_physics_step": 7483, |
| "physics_steps": 88, |
| "start_physics_step": 7395 |
| }, |
| { |
| "action_index": 87, |
| "end_physics_step": 7555, |
| "physics_steps": 72, |
| "start_physics_step": 7483 |
| }, |
| { |
| "action_index": 88, |
| "end_physics_step": 7606, |
| "physics_steps": 51, |
| "start_physics_step": 7555 |
| }, |
| { |
| "action_index": 89, |
| "end_physics_step": 7625, |
| "physics_steps": 19, |
| "start_physics_step": 7606 |
| }, |
| { |
| "action_index": 90, |
| "end_physics_step": 7675, |
| "physics_steps": 50, |
| "start_physics_step": 7625 |
| }, |
| { |
| "action_index": 91, |
| "end_physics_step": 7725, |
| "physics_steps": 50, |
| "start_physics_step": 7675 |
| }, |
| { |
| "action_index": 92, |
| "end_physics_step": 7775, |
| "physics_steps": 50, |
| "start_physics_step": 7725 |
| }, |
| { |
| "action_index": 93, |
| "end_physics_step": 7825, |
| "physics_steps": 50, |
| "start_physics_step": 7775 |
| }, |
| { |
| "action_index": 94, |
| "end_physics_step": 7875, |
| "physics_steps": 50, |
| "start_physics_step": 7825 |
| }, |
| { |
| "action_index": 95, |
| "end_physics_step": 7943, |
| "physics_steps": 68, |
| "start_physics_step": 7875 |
| }, |
| { |
| "action_index": 96, |
| "end_physics_step": 8027, |
| "physics_steps": 84, |
| "start_physics_step": 7943 |
| }, |
| { |
| "action_index": 97, |
| "end_physics_step": 8126, |
| "physics_steps": 99, |
| "start_physics_step": 8027 |
| }, |
| { |
| "action_index": 98, |
| "end_physics_step": 8239, |
| "physics_steps": 113, |
| "start_physics_step": 8126 |
| }, |
| { |
| "action_index": 99, |
| "end_physics_step": 8362, |
| "physics_steps": 123, |
| "start_physics_step": 8239 |
| }, |
| { |
| "action_index": 100, |
| "end_physics_step": 8495, |
| "physics_steps": 133, |
| "start_physics_step": 8362 |
| }, |
| { |
| "action_index": 101, |
| "end_physics_step": 8636, |
| "physics_steps": 141, |
| "start_physics_step": 8495 |
| }, |
| { |
| "action_index": 102, |
| "end_physics_step": 8787, |
| "physics_steps": 151, |
| "start_physics_step": 8636 |
| }, |
| { |
| "action_index": 103, |
| "end_physics_step": 8945, |
| "physics_steps": 158, |
| "start_physics_step": 8787 |
| }, |
| { |
| "action_index": 104, |
| "end_physics_step": 9107, |
| "physics_steps": 162, |
| "start_physics_step": 8945 |
| }, |
| { |
| "action_index": 105, |
| "end_physics_step": 9273, |
| "physics_steps": 166, |
| "start_physics_step": 9107 |
| }, |
| { |
| "action_index": 106, |
| "end_physics_step": 9441, |
| "physics_steps": 168, |
| "start_physics_step": 9273 |
| }, |
| { |
| "action_index": 107, |
| "end_physics_step": 9610, |
| "physics_steps": 169, |
| "start_physics_step": 9441 |
| }, |
| { |
| "action_index": 108, |
| "end_physics_step": 9779, |
| "physics_steps": 169, |
| "start_physics_step": 9610 |
| }, |
| { |
| "action_index": 109, |
| "end_physics_step": 9946, |
| "physics_steps": 167, |
| "start_physics_step": 9779 |
| }, |
| { |
| "action_index": 110, |
| "end_physics_step": 10111, |
| "physics_steps": 165, |
| "start_physics_step": 9946 |
| }, |
| { |
| "action_index": 111, |
| "end_physics_step": 10271, |
| "physics_steps": 160, |
| "start_physics_step": 10111 |
| }, |
| { |
| "action_index": 112, |
| "end_physics_step": 10424, |
| "physics_steps": 153, |
| "start_physics_step": 10271 |
| }, |
| { |
| "action_index": 113, |
| "end_physics_step": 10571, |
| "physics_steps": 147, |
| "start_physics_step": 10424 |
| }, |
| { |
| "action_index": 114, |
| "end_physics_step": 10711, |
| "physics_steps": 140, |
| "start_physics_step": 10571 |
| }, |
| { |
| "action_index": 115, |
| "end_physics_step": 10844, |
| "physics_steps": 133, |
| "start_physics_step": 10711 |
| }, |
| { |
| "action_index": 116, |
| "end_physics_step": 10969, |
| "physics_steps": 125, |
| "start_physics_step": 10844 |
| }, |
| { |
| "action_index": 117, |
| "end_physics_step": 11088, |
| "physics_steps": 119, |
| "start_physics_step": 10969 |
| }, |
| { |
| "action_index": 118, |
| "end_physics_step": 11202, |
| "physics_steps": 114, |
| "start_physics_step": 11088 |
| }, |
| { |
| "action_index": 119, |
| "end_physics_step": 11312, |
| "physics_steps": 110, |
| "start_physics_step": 11202 |
| }, |
| { |
| "action_index": 120, |
| "end_physics_step": 11419, |
| "physics_steps": 107, |
| "start_physics_step": 11312 |
| }, |
| { |
| "action_index": 121, |
| "end_physics_step": 11522, |
| "physics_steps": 103, |
| "start_physics_step": 11419 |
| }, |
| { |
| "action_index": 122, |
| "end_physics_step": 11620, |
| "physics_steps": 98, |
| "start_physics_step": 11522 |
| }, |
| { |
| "action_index": 123, |
| "end_physics_step": 11711, |
| "physics_steps": 91, |
| "start_physics_step": 11620 |
| }, |
| { |
| "action_index": 124, |
| "end_physics_step": 11794, |
| "physics_steps": 83, |
| "start_physics_step": 11711 |
| }, |
| { |
| "action_index": 125, |
| "end_physics_step": 11865, |
| "physics_steps": 71, |
| "start_physics_step": 11794 |
| }, |
| { |
| "action_index": 126, |
| "end_physics_step": 11926, |
| "physics_steps": 61, |
| "start_physics_step": 11865 |
| }, |
| { |
| "action_index": 127, |
| "end_physics_step": 11979, |
| "physics_steps": 53, |
| "start_physics_step": 11926 |
| }, |
| { |
| "action_index": 128, |
| "end_physics_step": 12029, |
| "physics_steps": 50, |
| "start_physics_step": 11979 |
| }, |
| { |
| "action_index": 129, |
| "end_physics_step": 12079, |
| "physics_steps": 50, |
| "start_physics_step": 12029 |
| }, |
| { |
| "action_index": 130, |
| "end_physics_step": 12129, |
| "physics_steps": 50, |
| "start_physics_step": 12079 |
| }, |
| { |
| "action_index": 131, |
| "end_physics_step": 12179, |
| "physics_steps": 50, |
| "start_physics_step": 12129 |
| }, |
| { |
| "action_index": 132, |
| "end_physics_step": 12229, |
| "physics_steps": 50, |
| "start_physics_step": 12179 |
| }, |
| { |
| "action_index": 133, |
| "end_physics_step": 12279, |
| "physics_steps": 50, |
| "start_physics_step": 12229 |
| }, |
| { |
| "action_index": 134, |
| "end_physics_step": 12329, |
| "physics_steps": 50, |
| "start_physics_step": 12279 |
| }, |
| { |
| "action_index": 135, |
| "end_physics_step": 12379, |
| "physics_steps": 50, |
| "start_physics_step": 12329 |
| }, |
| { |
| "action_index": 136, |
| "end_physics_step": 12429, |
| "physics_steps": 50, |
| "start_physics_step": 12379 |
| }, |
| { |
| "action_index": 137, |
| "end_physics_step": 12479, |
| "physics_steps": 50, |
| "start_physics_step": 12429 |
| }, |
| { |
| "action_index": 138, |
| "end_physics_step": 12529, |
| "physics_steps": 50, |
| "start_physics_step": 12479 |
| }, |
| { |
| "action_index": 139, |
| "end_physics_step": 12579, |
| "physics_steps": 50, |
| "start_physics_step": 12529 |
| }, |
| { |
| "action_index": 140, |
| "end_physics_step": 12629, |
| "physics_steps": 50, |
| "start_physics_step": 12579 |
| }, |
| { |
| "action_index": 141, |
| "end_physics_step": 12679, |
| "physics_steps": 50, |
| "start_physics_step": 12629 |
| }, |
| { |
| "action_index": 142, |
| "end_physics_step": 12729, |
| "physics_steps": 50, |
| "start_physics_step": 12679 |
| }, |
| { |
| "action_index": 143, |
| "end_physics_step": 12782, |
| "physics_steps": 53, |
| "start_physics_step": 12729 |
| }, |
| { |
| "action_index": 144, |
| "end_physics_step": 12856, |
| "physics_steps": 74, |
| "start_physics_step": 12782 |
| }, |
| { |
| "action_index": 145, |
| "end_physics_step": 12946, |
| "physics_steps": 90, |
| "start_physics_step": 12856 |
| }, |
| { |
| "action_index": 146, |
| "end_physics_step": 13049, |
| "physics_steps": 103, |
| "start_physics_step": 12946 |
| }, |
| { |
| "action_index": 147, |
| "end_physics_step": 13165, |
| "physics_steps": 116, |
| "start_physics_step": 13049 |
| }, |
| { |
| "action_index": 148, |
| "end_physics_step": 13289, |
| "physics_steps": 124, |
| "start_physics_step": 13165 |
| }, |
| { |
| "action_index": 149, |
| "end_physics_step": 13421, |
| "physics_steps": 132, |
| "start_physics_step": 13289 |
| }, |
| { |
| "action_index": 150, |
| "end_physics_step": 13559, |
| "physics_steps": 138, |
| "start_physics_step": 13421 |
| }, |
| { |
| "action_index": 151, |
| "end_physics_step": 13700, |
| "physics_steps": 141, |
| "start_physics_step": 13559 |
| }, |
| { |
| "action_index": 152, |
| "end_physics_step": 13843, |
| "physics_steps": 143, |
| "start_physics_step": 13700 |
| }, |
| { |
| "action_index": 153, |
| "end_physics_step": 13985, |
| "physics_steps": 142, |
| "start_physics_step": 13843 |
| }, |
| { |
| "action_index": 154, |
| "end_physics_step": 14125, |
| "physics_steps": 140, |
| "start_physics_step": 13985 |
| }, |
| { |
| "action_index": 155, |
| "end_physics_step": 14261, |
| "physics_steps": 136, |
| "start_physics_step": 14125 |
| }, |
| { |
| "action_index": 156, |
| "end_physics_step": 14392, |
| "physics_steps": 131, |
| "start_physics_step": 14261 |
| }, |
| { |
| "action_index": 157, |
| "end_physics_step": 14452, |
| "physics_steps": 60, |
| "start_physics_step": 14392 |
| } |
| ], |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", |
| "training_action_final_state": { |
| "grippers": [ |
| 0.0, |
| 0.0 |
| ], |
| "object_position": [ |
| -0.029486794024705887, |
| -0.02048826403915882, |
| 0.9505105018615723 |
| ], |
| "scanner_functional_point": [ |
| 0.04231068056597337, |
| -0.01748245306325629, |
| 0.9493649001468549, |
| 0.19322162308581867, |
| 0.723263104249796, |
| -0.2737698646880683, |
| -0.6038260905192051 |
| ] |
| }, |
| "training_action_input_frames": 172, |
| "training_action_interarm_contact_steps": 0, |
| "training_action_minimum_capsule_distance_m": 0.14007765297091132, |
| "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": 14452, |
| "training_actions_executed": 158 |
| } |
|
|
