Download scan_object/validation/episode47.json from Shiki42/ctr: direct link, hf CLI and curl.
- Browser
- Download file 25.4 kB
-
https://huggingface.co/datasets/Shiki42/ctr/resolve/main/scan_object/validation/episode47.json
- Command line
-
hf download hf://datasets/Shiki42/ctr/scan_object/validation/episode47.json
-
curl -L -o episode47.json https://huggingface.co/datasets/Shiki42/ctr/resolve/main/scan_object/validation/episode47.json
25.4 kB
| { | |
| "artifacts_complete": true, | |
| "camera_validation": { | |
| "episode": 47, | |
| "fovy_deg": { | |
| "left": 90.0, | |
| "right": 90.0 | |
| }, | |
| "frames": 166, | |
| "head_unique_frame_ratio": 0.9578313253012049, | |
| "main_camera_policy": "native_dynamic", | |
| "maximum_mount_distance_error_m": 3.842700331546656e-08, | |
| "maximum_wrist_consecutive_dark_frames": 0, | |
| "maximum_wrist_dark_frame_fraction": 0.0, | |
| "minimum_wrist_median_luminance": 194.53270182291666, | |
| "parallel_head_unique_frame_ratio": 0.9662921348314607, | |
| "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": 210.53161458333332, | |
| "right": 194.53270182291666 | |
| } | |
| }, | |
| "collision_safe": true, | |
| "collision_summary": { | |
| "contact_step_indices": [], | |
| "first_risk_step": null, | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.18571912351108433, | |
| "moves": { | |
| "object_place": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.3050334291524703 | |
| }, | |
| "scanner_align": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.18571912351108433 | |
| }, | |
| "scanner_grasp+object_grasp": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.22257393798614955 | |
| }, | |
| "scanner_lift+object_lift": { | |
| "contact_step_indices": [], | |
| "interarm_contact_steps": 0, | |
| "minimum_capsule_distance_m": 0.2502098868255593 | |
| } | |
| }, | |
| "physics_steps_checked": 2207 | |
| }, | |
| "episode": 47, | |
| "frames": 166, | |
| "plan_success": true, | |
| "renderer_validation": { | |
| "camera_shader": "rt", | |
| "episode": 47, | |
| "ray_tracing_denoiser": "optix", | |
| "status": "passed" | |
| }, | |
| "replay_success": true, | |
| "seed": 190, | |
| "source_commits": { | |
| "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a", | |
| "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a", | |
| "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040" | |
| }, | |
| "task_specific_final_state": { | |
| "grippers": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "object_position": [ | |
| -0.029144298285245895, | |
| -0.020833835005760193, | |
| 0.950435996055603 | |
| ], | |
| "scanner_functional_point": [ | |
| 0.022723156033219425, | |
| -0.02127816253719928, | |
| 0.9553651654042962, | |
| 0.2696499898176453, | |
| 0.6548892575910176, | |
| -0.26260773920908975, | |
| -0.6553213857266681 | |
| ] | |
| }, | |
| "task_success": true, | |
| "timing_summary": { | |
| "active_left_frames": 110, | |
| "active_right_frames": 103, | |
| "active_union_frames": 141, | |
| "avoidable_idle_seconds": 2.3, | |
| "frames": 166, | |
| "overlap_frames": 72, | |
| "overlap_ratio_active": 0.5106382978723404, | |
| "overlap_ratio_all": 0.43373493975903615, | |
| "overlap_seconds": 2.4, | |
| "seconds": 5.533333333333333, | |
| "true_dependency_wait_seconds": 0.0 | |
| }, | |
| "training_action_collision_safe": true, | |
| "training_action_count": 165, | |
| "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": 925, | |
| "physics_steps": 142, | |
| "start_physics_step": 783 | |
| }, | |
| { | |
| "action_index": 10, | |
| "end_physics_step": 1073, | |
| "physics_steps": 148, | |
| "start_physics_step": 925 | |
| }, | |
| { | |
| "action_index": 11, | |
| "end_physics_step": 1227, | |
| "physics_steps": 154, | |
| "start_physics_step": 1073 | |
| }, | |
| { | |
| "action_index": 12, | |
| "end_physics_step": 1385, | |
| "physics_steps": 158, | |
| "start_physics_step": 1227 | |
| }, | |
| { | |
| "action_index": 13, | |
| "end_physics_step": 1546, | |
| "physics_steps": 161, | |
| "start_physics_step": 1385 | |
| }, | |
| { | |
| "action_index": 14, | |
| "end_physics_step": 1710, | |
| "physics_steps": 164, | |
| "start_physics_step": 1546 | |
| }, | |
| { | |
| "action_index": 15, | |
| "end_physics_step": 1875, | |
| "physics_steps": 165, | |
| "start_physics_step": 1710 | |
| }, | |
| { | |
| "action_index": 16, | |
| "end_physics_step": 2040, | |
| "physics_steps": 165, | |
| "start_physics_step": 1875 | |
| }, | |
| { | |
| "action_index": 17, | |
| "end_physics_step": 2205, | |
| "physics_steps": 165, | |
| "start_physics_step": 2040 | |
| }, | |
| { | |
| "action_index": 18, | |
| "end_physics_step": 2368, | |
| "physics_steps": 163, | |
| "start_physics_step": 2205 | |
| }, | |
| { | |
| "action_index": 19, | |
| "end_physics_step": 2529, | |
| "physics_steps": 161, | |
| "start_physics_step": 2368 | |
| }, | |
| { | |
| "action_index": 20, | |
| "end_physics_step": 2687, | |
| "physics_steps": 158, | |
| "start_physics_step": 2529 | |
| }, | |
| { | |
| "action_index": 21, | |
| "end_physics_step": 2841, | |
| "physics_steps": 154, | |
| "start_physics_step": 2687 | |
| }, | |
| { | |
| "action_index": 22, | |
| "end_physics_step": 2989, | |
| "physics_steps": 148, | |
| "start_physics_step": 2841 | |
| }, | |
| { | |
| "action_index": 23, | |
| "end_physics_step": 3131, | |
| "physics_steps": 142, | |
| "start_physics_step": 2989 | |
| }, | |
| { | |
| "action_index": 24, | |
| "end_physics_step": 3265, | |
| "physics_steps": 134, | |
| "start_physics_step": 3131 | |
| }, | |
| { | |
| "action_index": 25, | |
| "end_physics_step": 3390, | |
| "physics_steps": 125, | |
| "start_physics_step": 3265 | |
| }, | |
| { | |
| "action_index": 26, | |
| "end_physics_step": 3504, | |
| "physics_steps": 114, | |
| "start_physics_step": 3390 | |
| }, | |
| { | |
| "action_index": 27, | |
| "end_physics_step": 3606, | |
| "physics_steps": 102, | |
| "start_physics_step": 3504 | |
| }, | |
| { | |
| "action_index": 28, | |
| "end_physics_step": 3693, | |
| "physics_steps": 87, | |
| "start_physics_step": 3606 | |
| }, | |
| { | |
| "action_index": 29, | |
| "end_physics_step": 3764, | |
| "physics_steps": 71, | |
| "start_physics_step": 3693 | |
| }, | |
| { | |
| "action_index": 30, | |
| "end_physics_step": 3813, | |
| "physics_steps": 49, | |
| "start_physics_step": 3764 | |
| }, | |
| { | |
| "action_index": 31, | |
| "end_physics_step": 3863, | |
| "physics_steps": 50, | |
| "start_physics_step": 3813 | |
| }, | |
| { | |
| "action_index": 32, | |
| "end_physics_step": 3913, | |
| "physics_steps": 50, | |
| "start_physics_step": 3863 | |
| }, | |
| { | |
| "action_index": 33, | |
| "end_physics_step": 3963, | |
| "physics_steps": 50, | |
| "start_physics_step": 3913 | |
| }, | |
| { | |
| "action_index": 34, | |
| "end_physics_step": 3999, | |
| "physics_steps": 36, | |
| "start_physics_step": 3963 | |
| }, | |
| { | |
| "action_index": 35, | |
| "end_physics_step": 4027, | |
| "physics_steps": 28, | |
| "start_physics_step": 3999 | |
| }, | |
| { | |
| "action_index": 36, | |
| "end_physics_step": 4084, | |
| "physics_steps": 57, | |
| "start_physics_step": 4027 | |
| }, | |
| { | |
| "action_index": 37, | |
| "end_physics_step": 4161, | |
| "physics_steps": 77, | |
| "start_physics_step": 4084 | |
| }, | |
| { | |
| "action_index": 38, | |
| "end_physics_step": 4251, | |
| "physics_steps": 90, | |
| "start_physics_step": 4161 | |
| }, | |
| { | |
| "action_index": 39, | |
| "end_physics_step": 4350, | |
| "physics_steps": 99, | |
| "start_physics_step": 4251 | |
| }, | |
| { | |
| "action_index": 40, | |
| "end_physics_step": 4454, | |
| "physics_steps": 104, | |
| "start_physics_step": 4350 | |
| }, | |
| { | |
| "action_index": 41, | |
| "end_physics_step": 4559, | |
| "physics_steps": 105, | |
| "start_physics_step": 4454 | |
| }, | |
| { | |
| "action_index": 42, | |
| "end_physics_step": 4659, | |
| "physics_steps": 100, | |
| "start_physics_step": 4559 | |
| }, | |
| { | |
| "action_index": 43, | |
| "end_physics_step": 4749, | |
| "physics_steps": 90, | |
| "start_physics_step": 4659 | |
| }, | |
| { | |
| "action_index": 44, | |
| "end_physics_step": 4823, | |
| "physics_steps": 74, | |
| "start_physics_step": 4749 | |
| }, | |
| { | |
| "action_index": 45, | |
| "end_physics_step": 4877, | |
| "physics_steps": 54, | |
| "start_physics_step": 4823 | |
| }, | |
| { | |
| "action_index": 46, | |
| "end_physics_step": 4897, | |
| "physics_steps": 20, | |
| "start_physics_step": 4877 | |
| }, | |
| { | |
| "action_index": 47, | |
| "end_physics_step": 4947, | |
| "physics_steps": 50, | |
| "start_physics_step": 4897 | |
| }, | |
| { | |
| "action_index": 48, | |
| "end_physics_step": 4997, | |
| "physics_steps": 50, | |
| "start_physics_step": 4947 | |
| }, | |
| { | |
| "action_index": 49, | |
| "end_physics_step": 5047, | |
| "physics_steps": 50, | |
| "start_physics_step": 4997 | |
| }, | |
| { | |
| "action_index": 50, | |
| "end_physics_step": 5097, | |
| "physics_steps": 50, | |
| "start_physics_step": 5047 | |
| }, | |
| { | |
| "action_index": 51, | |
| "end_physics_step": 5147, | |
| "physics_steps": 50, | |
| "start_physics_step": 5097 | |
| }, | |
| { | |
| "action_index": 52, | |
| "end_physics_step": 5197, | |
| "physics_steps": 50, | |
| "start_physics_step": 5147 | |
| }, | |
| { | |
| "action_index": 53, | |
| "end_physics_step": 5247, | |
| "physics_steps": 50, | |
| "start_physics_step": 5197 | |
| }, | |
| { | |
| "action_index": 54, | |
| "end_physics_step": 5297, | |
| "physics_steps": 50, | |
| "start_physics_step": 5247 | |
| }, | |
| { | |
| "action_index": 55, | |
| "end_physics_step": 5347, | |
| "physics_steps": 50, | |
| "start_physics_step": 5297 | |
| }, | |
| { | |
| "action_index": 56, | |
| "end_physics_step": 5397, | |
| "physics_steps": 50, | |
| "start_physics_step": 5347 | |
| }, | |
| { | |
| "action_index": 57, | |
| "end_physics_step": 5447, | |
| "physics_steps": 50, | |
| "start_physics_step": 5397 | |
| }, | |
| { | |
| "action_index": 58, | |
| "end_physics_step": 5497, | |
| "physics_steps": 50, | |
| "start_physics_step": 5447 | |
| }, | |
| { | |
| "action_index": 59, | |
| "end_physics_step": 5547, | |
| "physics_steps": 50, | |
| "start_physics_step": 5497 | |
| }, | |
| { | |
| "action_index": 60, | |
| "end_physics_step": 5597, | |
| "physics_steps": 50, | |
| "start_physics_step": 5547 | |
| }, | |
| { | |
| "action_index": 61, | |
| "end_physics_step": 5647, | |
| "physics_steps": 50, | |
| "start_physics_step": 5597 | |
| }, | |
| { | |
| "action_index": 62, | |
| "end_physics_step": 5697, | |
| "physics_steps": 50, | |
| "start_physics_step": 5647 | |
| }, | |
| { | |
| "action_index": 63, | |
| "end_physics_step": 5747, | |
| "physics_steps": 50, | |
| "start_physics_step": 5697 | |
| }, | |
| { | |
| "action_index": 64, | |
| "end_physics_step": 5797, | |
| "physics_steps": 50, | |
| "start_physics_step": 5747 | |
| }, | |
| { | |
| "action_index": 65, | |
| "end_physics_step": 5847, | |
| "physics_steps": 50, | |
| "start_physics_step": 5797 | |
| }, | |
| { | |
| "action_index": 66, | |
| "end_physics_step": 5897, | |
| "physics_steps": 50, | |
| "start_physics_step": 5847 | |
| }, | |
| { | |
| "action_index": 67, | |
| "end_physics_step": 5947, | |
| "physics_steps": 50, | |
| "start_physics_step": 5897 | |
| }, | |
| { | |
| "action_index": 68, | |
| "end_physics_step": 5997, | |
| "physics_steps": 50, | |
| "start_physics_step": 5947 | |
| }, | |
| { | |
| "action_index": 69, | |
| "end_physics_step": 6047, | |
| "physics_steps": 50, | |
| "start_physics_step": 5997 | |
| }, | |
| { | |
| "action_index": 70, | |
| "end_physics_step": 6097, | |
| "physics_steps": 50, | |
| "start_physics_step": 6047 | |
| }, | |
| { | |
| "action_index": 71, | |
| "end_physics_step": 6116, | |
| "physics_steps": 19, | |
| "start_physics_step": 6097 | |
| }, | |
| { | |
| "action_index": 72, | |
| "end_physics_step": 6141, | |
| "physics_steps": 25, | |
| "start_physics_step": 6116 | |
| }, | |
| { | |
| "action_index": 73, | |
| "end_physics_step": 6198, | |
| "physics_steps": 57, | |
| "start_physics_step": 6141 | |
| }, | |
| { | |
| "action_index": 74, | |
| "end_physics_step": 6275, | |
| "physics_steps": 77, | |
| "start_physics_step": 6198 | |
| }, | |
| { | |
| "action_index": 75, | |
| "end_physics_step": 6367, | |
| "physics_steps": 92, | |
| "start_physics_step": 6275 | |
| }, | |
| { | |
| "action_index": 76, | |
| "end_physics_step": 6472, | |
| "physics_steps": 105, | |
| "start_physics_step": 6367 | |
| }, | |
| { | |
| "action_index": 77, | |
| "end_physics_step": 6587, | |
| "physics_steps": 115, | |
| "start_physics_step": 6472 | |
| }, | |
| { | |
| "action_index": 78, | |
| "end_physics_step": 6708, | |
| "physics_steps": 121, | |
| "start_physics_step": 6587 | |
| }, | |
| { | |
| "action_index": 79, | |
| "end_physics_step": 6830, | |
| "physics_steps": 122, | |
| "start_physics_step": 6708 | |
| }, | |
| { | |
| "action_index": 80, | |
| "end_physics_step": 6950, | |
| "physics_steps": 120, | |
| "start_physics_step": 6830 | |
| }, | |
| { | |
| "action_index": 81, | |
| "end_physics_step": 7063, | |
| "physics_steps": 113, | |
| "start_physics_step": 6950 | |
| }, | |
| { | |
| "action_index": 82, | |
| "end_physics_step": 7164, | |
| "physics_steps": 101, | |
| "start_physics_step": 7063 | |
| }, | |
| { | |
| "action_index": 83, | |
| "end_physics_step": 7251, | |
| "physics_steps": 87, | |
| "start_physics_step": 7164 | |
| }, | |
| { | |
| "action_index": 84, | |
| "end_physics_step": 7321, | |
| "physics_steps": 70, | |
| "start_physics_step": 7251 | |
| }, | |
| { | |
| "action_index": 85, | |
| "end_physics_step": 7369, | |
| "physics_steps": 48, | |
| "start_physics_step": 7321 | |
| }, | |
| { | |
| "action_index": 86, | |
| "end_physics_step": 7382, | |
| "physics_steps": 13, | |
| "start_physics_step": 7369 | |
| }, | |
| { | |
| "action_index": 87, | |
| "end_physics_step": 7432, | |
| "physics_steps": 50, | |
| "start_physics_step": 7382 | |
| }, | |
| { | |
| "action_index": 88, | |
| "end_physics_step": 7482, | |
| "physics_steps": 50, | |
| "start_physics_step": 7432 | |
| }, | |
| { | |
| "action_index": 89, | |
| "end_physics_step": 7532, | |
| "physics_steps": 50, | |
| "start_physics_step": 7482 | |
| }, | |
| { | |
| "action_index": 90, | |
| "end_physics_step": 7582, | |
| "physics_steps": 50, | |
| "start_physics_step": 7532 | |
| }, | |
| { | |
| "action_index": 91, | |
| "end_physics_step": 7632, | |
| "physics_steps": 50, | |
| "start_physics_step": 7582 | |
| }, | |
| { | |
| "action_index": 92, | |
| "end_physics_step": 7703, | |
| "physics_steps": 71, | |
| "start_physics_step": 7632 | |
| }, | |
| { | |
| "action_index": 93, | |
| "end_physics_step": 7790, | |
| "physics_steps": 87, | |
| "start_physics_step": 7703 | |
| }, | |
| { | |
| "action_index": 94, | |
| "end_physics_step": 7891, | |
| "physics_steps": 101, | |
| "start_physics_step": 7790 | |
| }, | |
| { | |
| "action_index": 95, | |
| "end_physics_step": 8004, | |
| "physics_steps": 113, | |
| "start_physics_step": 7891 | |
| }, | |
| { | |
| "action_index": 96, | |
| "end_physics_step": 8126, | |
| "physics_steps": 122, | |
| "start_physics_step": 8004 | |
| }, | |
| { | |
| "action_index": 97, | |
| "end_physics_step": 8256, | |
| "physics_steps": 130, | |
| "start_physics_step": 8126 | |
| }, | |
| { | |
| "action_index": 98, | |
| "end_physics_step": 8391, | |
| "physics_steps": 135, | |
| "start_physics_step": 8256 | |
| }, | |
| { | |
| "action_index": 99, | |
| "end_physics_step": 8531, | |
| "physics_steps": 140, | |
| "start_physics_step": 8391 | |
| }, | |
| { | |
| "action_index": 100, | |
| "end_physics_step": 8676, | |
| "physics_steps": 145, | |
| "start_physics_step": 8531 | |
| }, | |
| { | |
| "action_index": 101, | |
| "end_physics_step": 8825, | |
| "physics_steps": 149, | |
| "start_physics_step": 8676 | |
| }, | |
| { | |
| "action_index": 102, | |
| "end_physics_step": 8979, | |
| "physics_steps": 154, | |
| "start_physics_step": 8825 | |
| }, | |
| { | |
| "action_index": 103, | |
| "end_physics_step": 9137, | |
| "physics_steps": 158, | |
| "start_physics_step": 8979 | |
| }, | |
| { | |
| "action_index": 104, | |
| "end_physics_step": 9299, | |
| "physics_steps": 162, | |
| "start_physics_step": 9137 | |
| }, | |
| { | |
| "action_index": 105, | |
| "end_physics_step": 9464, | |
| "physics_steps": 165, | |
| "start_physics_step": 9299 | |
| }, | |
| { | |
| "action_index": 106, | |
| "end_physics_step": 9632, | |
| "physics_steps": 168, | |
| "start_physics_step": 9464 | |
| }, | |
| { | |
| "action_index": 107, | |
| "end_physics_step": 9801, | |
| "physics_steps": 169, | |
| "start_physics_step": 9632 | |
| }, | |
| { | |
| "action_index": 108, | |
| "end_physics_step": 9971, | |
| "physics_steps": 170, | |
| "start_physics_step": 9801 | |
| }, | |
| { | |
| "action_index": 109, | |
| "end_physics_step": 10140, | |
| "physics_steps": 169, | |
| "start_physics_step": 9971 | |
| }, | |
| { | |
| "action_index": 110, | |
| "end_physics_step": 10306, | |
| "physics_steps": 166, | |
| "start_physics_step": 10140 | |
| }, | |
| { | |
| "action_index": 111, | |
| "end_physics_step": 10469, | |
| "physics_steps": 163, | |
| "start_physics_step": 10306 | |
| }, | |
| { | |
| "action_index": 112, | |
| "end_physics_step": 10626, | |
| "physics_steps": 157, | |
| "start_physics_step": 10469 | |
| }, | |
| { | |
| "action_index": 113, | |
| "end_physics_step": 10776, | |
| "physics_steps": 150, | |
| "start_physics_step": 10626 | |
| }, | |
| { | |
| "action_index": 114, | |
| "end_physics_step": 10917, | |
| "physics_steps": 141, | |
| "start_physics_step": 10776 | |
| }, | |
| { | |
| "action_index": 115, | |
| "end_physics_step": 11048, | |
| "physics_steps": 131, | |
| "start_physics_step": 10917 | |
| }, | |
| { | |
| "action_index": 116, | |
| "end_physics_step": 11168, | |
| "physics_steps": 120, | |
| "start_physics_step": 11048 | |
| }, | |
| { | |
| "action_index": 117, | |
| "end_physics_step": 11277, | |
| "physics_steps": 109, | |
| "start_physics_step": 11168 | |
| }, | |
| { | |
| "action_index": 118, | |
| "end_physics_step": 11373, | |
| "physics_steps": 96, | |
| "start_physics_step": 11277 | |
| }, | |
| { | |
| "action_index": 119, | |
| "end_physics_step": 11454, | |
| "physics_steps": 81, | |
| "start_physics_step": 11373 | |
| }, | |
| { | |
| "action_index": 120, | |
| "end_physics_step": 11517, | |
| "physics_steps": 63, | |
| "start_physics_step": 11454 | |
| }, | |
| { | |
| "action_index": 121, | |
| "end_physics_step": 11567, | |
| "physics_steps": 50, | |
| "start_physics_step": 11517 | |
| }, | |
| { | |
| "action_index": 122, | |
| "end_physics_step": 11617, | |
| "physics_steps": 50, | |
| "start_physics_step": 11567 | |
| }, | |
| { | |
| "action_index": 123, | |
| "end_physics_step": 11667, | |
| "physics_steps": 50, | |
| "start_physics_step": 11617 | |
| }, | |
| { | |
| "action_index": 124, | |
| "end_physics_step": 11717, | |
| "physics_steps": 50, | |
| "start_physics_step": 11667 | |
| }, | |
| { | |
| "action_index": 125, | |
| "end_physics_step": 11767, | |
| "physics_steps": 50, | |
| "start_physics_step": 11717 | |
| }, | |
| { | |
| "action_index": 126, | |
| "end_physics_step": 11817, | |
| "physics_steps": 50, | |
| "start_physics_step": 11767 | |
| }, | |
| { | |
| "action_index": 127, | |
| "end_physics_step": 11867, | |
| "physics_steps": 50, | |
| "start_physics_step": 11817 | |
| }, | |
| { | |
| "action_index": 128, | |
| "end_physics_step": 11917, | |
| "physics_steps": 50, | |
| "start_physics_step": 11867 | |
| }, | |
| { | |
| "action_index": 129, | |
| "end_physics_step": 11967, | |
| "physics_steps": 50, | |
| "start_physics_step": 11917 | |
| }, | |
| { | |
| "action_index": 130, | |
| "end_physics_step": 12017, | |
| "physics_steps": 50, | |
| "start_physics_step": 11967 | |
| }, | |
| { | |
| "action_index": 131, | |
| "end_physics_step": 12067, | |
| "physics_steps": 50, | |
| "start_physics_step": 12017 | |
| }, | |
| { | |
| "action_index": 132, | |
| "end_physics_step": 12117, | |
| "physics_steps": 50, | |
| "start_physics_step": 12067 | |
| }, | |
| { | |
| "action_index": 133, | |
| "end_physics_step": 12167, | |
| "physics_steps": 50, | |
| "start_physics_step": 12117 | |
| }, | |
| { | |
| "action_index": 134, | |
| "end_physics_step": 12219, | |
| "physics_steps": 52, | |
| "start_physics_step": 12167 | |
| }, | |
| { | |
| "action_index": 135, | |
| "end_physics_step": 12290, | |
| "physics_steps": 71, | |
| "start_physics_step": 12219 | |
| }, | |
| { | |
| "action_index": 136, | |
| "end_physics_step": 12377, | |
| "physics_steps": 87, | |
| "start_physics_step": 12290 | |
| }, | |
| { | |
| "action_index": 137, | |
| "end_physics_step": 12477, | |
| "physics_steps": 100, | |
| "start_physics_step": 12377 | |
| }, | |
| { | |
| "action_index": 138, | |
| "end_physics_step": 12589, | |
| "physics_steps": 112, | |
| "start_physics_step": 12477 | |
| }, | |
| { | |
| "action_index": 139, | |
| "end_physics_step": 12710, | |
| "physics_steps": 121, | |
| "start_physics_step": 12589 | |
| }, | |
| { | |
| "action_index": 140, | |
| "end_physics_step": 12839, | |
| "physics_steps": 129, | |
| "start_physics_step": 12710 | |
| }, | |
| { | |
| "action_index": 141, | |
| "end_physics_step": 12974, | |
| "physics_steps": 135, | |
| "start_physics_step": 12839 | |
| }, | |
| { | |
| "action_index": 142, | |
| "end_physics_step": 13114, | |
| "physics_steps": 140, | |
| "start_physics_step": 12974 | |
| }, | |
| { | |
| "action_index": 143, | |
| "end_physics_step": 13258, | |
| "physics_steps": 144, | |
| "start_physics_step": 13114 | |
| }, | |
| { | |
| "action_index": 144, | |
| "end_physics_step": 13405, | |
| "physics_steps": 147, | |
| "start_physics_step": 13258 | |
| }, | |
| { | |
| "action_index": 145, | |
| "end_physics_step": 13553, | |
| "physics_steps": 148, | |
| "start_physics_step": 13405 | |
| }, | |
| { | |
| "action_index": 146, | |
| "end_physics_step": 13702, | |
| "physics_steps": 149, | |
| "start_physics_step": 13553 | |
| }, | |
| { | |
| "action_index": 147, | |
| "end_physics_step": 13850, | |
| "physics_steps": 148, | |
| "start_physics_step": 13702 | |
| }, | |
| { | |
| "action_index": 148, | |
| "end_physics_step": 13995, | |
| "physics_steps": 145, | |
| "start_physics_step": 13850 | |
| }, | |
| { | |
| "action_index": 149, | |
| "end_physics_step": 14136, | |
| "physics_steps": 141, | |
| "start_physics_step": 13995 | |
| }, | |
| { | |
| "action_index": 150, | |
| "end_physics_step": 14271, | |
| "physics_steps": 135, | |
| "start_physics_step": 14136 | |
| }, | |
| { | |
| "action_index": 151, | |
| "end_physics_step": 14397, | |
| "physics_steps": 126, | |
| "start_physics_step": 14271 | |
| }, | |
| { | |
| "action_index": 152, | |
| "end_physics_step": 14512, | |
| "physics_steps": 115, | |
| "start_physics_step": 14397 | |
| }, | |
| { | |
| "action_index": 153, | |
| "end_physics_step": 14581, | |
| "physics_steps": 69, | |
| "start_physics_step": 14512 | |
| } | |
| ], | |
| "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", | |
| "training_action_final_state": { | |
| "grippers": [ | |
| 0.0, | |
| 0.0 | |
| ], | |
| "object_position": [ | |
| -0.030103035271167755, | |
| -0.0203294325619936, | |
| 0.9505266547203064 | |
| ], | |
| "scanner_functional_point": [ | |
| 0.03018389096383011, | |
| -0.00311736515743391, | |
| 0.941965048415384, | |
| 0.19316800989777977, | |
| 0.6790373271676549, | |
| -0.31578301577859735, | |
| -0.6339365230138682 | |
| ] | |
| }, | |
| "training_action_input_frames": 166, | |
| "training_action_interarm_contact_steps": 0, | |
| "training_action_minimum_capsule_distance_m": 0.1906478354399665, | |
| "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": 14581, | |
| "training_actions_executed": 154 | |
| } | |