ctr / scan_object /validation /episode5.json
Shiki42's picture
Upload scan_object centered_fovy90
a27e428 verified
Raw History Blame Contribute Delete
26 kB
{
"artifacts_complete": true,
"camera_validation": {
"episode": 5,
"fovy_deg": {
"left": 90.0,
"right": 90.0
},
"frames": 173,
"head_unique_frame_ratio": 0.953757225433526,
"main_camera_policy": "native_dynamic",
"maximum_mount_distance_error_m": 5.207255911188202e-08,
"maximum_wrist_consecutive_dark_frames": 0,
"maximum_wrist_dark_frame_fraction": 0.0,
"minimum_wrist_median_luminance": 190.0818402777778,
"parallel_head_unique_frame_ratio": 0.9565217391304348,
"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": 190.37170572916668,
"right": 190.0818402777778
}
},
"collision_safe": true,
"collision_summary": {
"contact_step_indices": [],
"first_risk_step": null,
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.16903893603049072,
"moves": {
"object_place": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.20679663820604288
},
"scanner_align": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.16903893603049072
},
"scanner_grasp+object_grasp": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.1969395115858915
},
"scanner_lift+object_lift": {
"contact_step_indices": [],
"interarm_contact_steps": 0,
"minimum_capsule_distance_m": 0.231676802161389
}
},
"physics_steps_checked": 2308
},
"episode": 5,
"frames": 173,
"plan_success": true,
"renderer_validation": {
"camera_shader": "rt",
"episode": 5,
"ray_tracing_denoiser": "optix",
"status": "passed"
},
"replay_success": true,
"seed": 84,
"source_commits": {
"parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
"robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
"robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
},
"task_specific_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
0.030698124319314957,
-0.01907448284327984,
0.9498051404953003
],
"scanner_functional_point": [
-0.01693466920061454,
-0.017606071401668824,
0.9551802481637126,
0.6577264261209872,
-0.2527660823076333,
0.6612912521310454,
-0.25729192733530953
]
},
"task_success": true,
"timing_summary": {
"active_left_frames": 106,
"active_right_frames": 115,
"active_union_frames": 146,
"avoidable_idle_seconds": 2.456,
"frames": 173,
"overlap_frames": 75,
"overlap_ratio_active": 0.5136986301369864,
"overlap_ratio_all": 0.43352601156069365,
"overlap_seconds": 2.5,
"seconds": 5.766666666666667,
"true_dependency_wait_seconds": 0.0
},
"training_action_collision_safe": true,
"training_action_count": 172,
"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": 307,
"physics_steps": 87,
"start_physics_step": 220
},
{
"action_index": 5,
"end_physics_step": 406,
"physics_steps": 99,
"start_physics_step": 307
},
{
"action_index": 6,
"end_physics_step": 515,
"physics_steps": 109,
"start_physics_step": 406
},
{
"action_index": 7,
"end_physics_step": 633,
"physics_steps": 118,
"start_physics_step": 515
},
{
"action_index": 8,
"end_physics_step": 758,
"physics_steps": 125,
"start_physics_step": 633
},
{
"action_index": 9,
"end_physics_step": 888,
"physics_steps": 130,
"start_physics_step": 758
},
{
"action_index": 10,
"end_physics_step": 1023,
"physics_steps": 135,
"start_physics_step": 888
},
{
"action_index": 11,
"end_physics_step": 1162,
"physics_steps": 139,
"start_physics_step": 1023
},
{
"action_index": 12,
"end_physics_step": 1304,
"physics_steps": 142,
"start_physics_step": 1162
},
{
"action_index": 13,
"end_physics_step": 1449,
"physics_steps": 145,
"start_physics_step": 1304
},
{
"action_index": 14,
"end_physics_step": 1595,
"physics_steps": 146,
"start_physics_step": 1449
},
{
"action_index": 15,
"end_physics_step": 1742,
"physics_steps": 147,
"start_physics_step": 1595
},
{
"action_index": 16,
"end_physics_step": 1890,
"physics_steps": 148,
"start_physics_step": 1742
},
{
"action_index": 17,
"end_physics_step": 2037,
"physics_steps": 147,
"start_physics_step": 1890
},
{
"action_index": 18,
"end_physics_step": 2183,
"physics_steps": 146,
"start_physics_step": 2037
},
{
"action_index": 19,
"end_physics_step": 2327,
"physics_steps": 144,
"start_physics_step": 2183
},
{
"action_index": 20,
"end_physics_step": 2469,
"physics_steps": 142,
"start_physics_step": 2327
},
{
"action_index": 21,
"end_physics_step": 2607,
"physics_steps": 138,
"start_physics_step": 2469
},
{
"action_index": 22,
"end_physics_step": 2741,
"physics_steps": 134,
"start_physics_step": 2607
},
{
"action_index": 23,
"end_physics_step": 2870,
"physics_steps": 129,
"start_physics_step": 2741
},
{
"action_index": 24,
"end_physics_step": 2993,
"physics_steps": 123,
"start_physics_step": 2870
},
{
"action_index": 25,
"end_physics_step": 3109,
"physics_steps": 116,
"start_physics_step": 2993
},
{
"action_index": 26,
"end_physics_step": 3216,
"physics_steps": 107,
"start_physics_step": 3109
},
{
"action_index": 27,
"end_physics_step": 3312,
"physics_steps": 96,
"start_physics_step": 3216
},
{
"action_index": 28,
"end_physics_step": 3395,
"physics_steps": 83,
"start_physics_step": 3312
},
{
"action_index": 29,
"end_physics_step": 3462,
"physics_steps": 67,
"start_physics_step": 3395
},
{
"action_index": 30,
"end_physics_step": 3505,
"physics_steps": 43,
"start_physics_step": 3462
},
{
"action_index": 31,
"end_physics_step": 3555,
"physics_steps": 50,
"start_physics_step": 3505
},
{
"action_index": 32,
"end_physics_step": 3605,
"physics_steps": 50,
"start_physics_step": 3555
},
{
"action_index": 33,
"end_physics_step": 3655,
"physics_steps": 50,
"start_physics_step": 3605
},
{
"action_index": 34,
"end_physics_step": 3700,
"physics_steps": 45,
"start_physics_step": 3655
},
{
"action_index": 35,
"end_physics_step": 3725,
"physics_steps": 25,
"start_physics_step": 3700
},
{
"action_index": 36,
"end_physics_step": 3781,
"physics_steps": 56,
"start_physics_step": 3725
},
{
"action_index": 37,
"end_physics_step": 3853,
"physics_steps": 72,
"start_physics_step": 3781
},
{
"action_index": 38,
"end_physics_step": 3935,
"physics_steps": 82,
"start_physics_step": 3853
},
{
"action_index": 39,
"end_physics_step": 4024,
"physics_steps": 89,
"start_physics_step": 3935
},
{
"action_index": 40,
"end_physics_step": 4118,
"physics_steps": 94,
"start_physics_step": 4024
},
{
"action_index": 41,
"end_physics_step": 4214,
"physics_steps": 96,
"start_physics_step": 4118
},
{
"action_index": 42,
"end_physics_step": 4311,
"physics_steps": 97,
"start_physics_step": 4214
},
{
"action_index": 43,
"end_physics_step": 4406,
"physics_steps": 95,
"start_physics_step": 4311
},
{
"action_index": 44,
"end_physics_step": 4498,
"physics_steps": 92,
"start_physics_step": 4406
},
{
"action_index": 45,
"end_physics_step": 4584,
"physics_steps": 86,
"start_physics_step": 4498
},
{
"action_index": 46,
"end_physics_step": 4661,
"physics_steps": 77,
"start_physics_step": 4584
},
{
"action_index": 47,
"end_physics_step": 4725,
"physics_steps": 64,
"start_physics_step": 4661
},
{
"action_index": 48,
"end_physics_step": 4769,
"physics_steps": 44,
"start_physics_step": 4725
},
{
"action_index": 49,
"end_physics_step": 4779,
"physics_steps": 10,
"start_physics_step": 4769
},
{
"action_index": 50,
"end_physics_step": 4829,
"physics_steps": 50,
"start_physics_step": 4779
},
{
"action_index": 51,
"end_physics_step": 4879,
"physics_steps": 50,
"start_physics_step": 4829
},
{
"action_index": 52,
"end_physics_step": 4929,
"physics_steps": 50,
"start_physics_step": 4879
},
{
"action_index": 53,
"end_physics_step": 4979,
"physics_steps": 50,
"start_physics_step": 4929
},
{
"action_index": 54,
"end_physics_step": 5029,
"physics_steps": 50,
"start_physics_step": 4979
},
{
"action_index": 55,
"end_physics_step": 5079,
"physics_steps": 50,
"start_physics_step": 5029
},
{
"action_index": 56,
"end_physics_step": 5129,
"physics_steps": 50,
"start_physics_step": 5079
},
{
"action_index": 57,
"end_physics_step": 5179,
"physics_steps": 50,
"start_physics_step": 5129
},
{
"action_index": 58,
"end_physics_step": 5229,
"physics_steps": 50,
"start_physics_step": 5179
},
{
"action_index": 59,
"end_physics_step": 5279,
"physics_steps": 50,
"start_physics_step": 5229
},
{
"action_index": 60,
"end_physics_step": 5329,
"physics_steps": 50,
"start_physics_step": 5279
},
{
"action_index": 61,
"end_physics_step": 5379,
"physics_steps": 50,
"start_physics_step": 5329
},
{
"action_index": 62,
"end_physics_step": 5429,
"physics_steps": 50,
"start_physics_step": 5379
},
{
"action_index": 63,
"end_physics_step": 5479,
"physics_steps": 50,
"start_physics_step": 5429
},
{
"action_index": 64,
"end_physics_step": 5529,
"physics_steps": 50,
"start_physics_step": 5479
},
{
"action_index": 65,
"end_physics_step": 5579,
"physics_steps": 50,
"start_physics_step": 5529
},
{
"action_index": 66,
"end_physics_step": 5629,
"physics_steps": 50,
"start_physics_step": 5579
},
{
"action_index": 67,
"end_physics_step": 5679,
"physics_steps": 50,
"start_physics_step": 5629
},
{
"action_index": 68,
"end_physics_step": 5729,
"physics_steps": 50,
"start_physics_step": 5679
},
{
"action_index": 69,
"end_physics_step": 5779,
"physics_steps": 50,
"start_physics_step": 5729
},
{
"action_index": 70,
"end_physics_step": 5829,
"physics_steps": 50,
"start_physics_step": 5779
},
{
"action_index": 71,
"end_physics_step": 5879,
"physics_steps": 50,
"start_physics_step": 5829
},
{
"action_index": 72,
"end_physics_step": 5929,
"physics_steps": 50,
"start_physics_step": 5879
},
{
"action_index": 73,
"end_physics_step": 5979,
"physics_steps": 50,
"start_physics_step": 5929
},
{
"action_index": 74,
"end_physics_step": 6006,
"physics_steps": 27,
"start_physics_step": 5979
},
{
"action_index": 75,
"end_physics_step": 6030,
"physics_steps": 24,
"start_physics_step": 6006
},
{
"action_index": 76,
"end_physics_step": 6086,
"physics_steps": 56,
"start_physics_step": 6030
},
{
"action_index": 77,
"end_physics_step": 6162,
"physics_steps": 76,
"start_physics_step": 6086
},
{
"action_index": 78,
"end_physics_step": 6254,
"physics_steps": 92,
"start_physics_step": 6162
},
{
"action_index": 79,
"end_physics_step": 6359,
"physics_steps": 105,
"start_physics_step": 6254
},
{
"action_index": 80,
"end_physics_step": 6475,
"physics_steps": 116,
"start_physics_step": 6359
},
{
"action_index": 81,
"end_physics_step": 6597,
"physics_steps": 122,
"start_physics_step": 6475
},
{
"action_index": 82,
"end_physics_step": 6722,
"physics_steps": 125,
"start_physics_step": 6597
},
{
"action_index": 83,
"end_physics_step": 6846,
"physics_steps": 124,
"start_physics_step": 6722
},
{
"action_index": 84,
"end_physics_step": 6966,
"physics_steps": 120,
"start_physics_step": 6846
},
{
"action_index": 85,
"end_physics_step": 7077,
"physics_steps": 111,
"start_physics_step": 6966
},
{
"action_index": 86,
"end_physics_step": 7176,
"physics_steps": 99,
"start_physics_step": 7077
},
{
"action_index": 87,
"end_physics_step": 7260,
"physics_steps": 84,
"start_physics_step": 7176
},
{
"action_index": 88,
"end_physics_step": 7327,
"physics_steps": 67,
"start_physics_step": 7260
},
{
"action_index": 89,
"end_physics_step": 7370,
"physics_steps": 43,
"start_physics_step": 7327
},
{
"action_index": 90,
"end_physics_step": 7420,
"physics_steps": 50,
"start_physics_step": 7370
},
{
"action_index": 91,
"end_physics_step": 7470,
"physics_steps": 50,
"start_physics_step": 7420
},
{
"action_index": 92,
"end_physics_step": 7520,
"physics_steps": 50,
"start_physics_step": 7470
},
{
"action_index": 93,
"end_physics_step": 7570,
"physics_steps": 50,
"start_physics_step": 7520
},
{
"action_index": 94,
"end_physics_step": 7620,
"physics_steps": 50,
"start_physics_step": 7570
},
{
"action_index": 95,
"end_physics_step": 7690,
"physics_steps": 70,
"start_physics_step": 7620
},
{
"action_index": 96,
"end_physics_step": 7775,
"physics_steps": 85,
"start_physics_step": 7690
},
{
"action_index": 97,
"end_physics_step": 7873,
"physics_steps": 98,
"start_physics_step": 7775
},
{
"action_index": 98,
"end_physics_step": 7981,
"physics_steps": 108,
"start_physics_step": 7873
},
{
"action_index": 99,
"end_physics_step": 8099,
"physics_steps": 118,
"start_physics_step": 7981
},
{
"action_index": 100,
"end_physics_step": 8224,
"physics_steps": 125,
"start_physics_step": 8099
},
{
"action_index": 101,
"end_physics_step": 8355,
"physics_steps": 131,
"start_physics_step": 8224
},
{
"action_index": 102,
"end_physics_step": 8492,
"physics_steps": 137,
"start_physics_step": 8355
},
{
"action_index": 103,
"end_physics_step": 8633,
"physics_steps": 141,
"start_physics_step": 8492
},
{
"action_index": 104,
"end_physics_step": 8778,
"physics_steps": 145,
"start_physics_step": 8633
},
{
"action_index": 105,
"end_physics_step": 8928,
"physics_steps": 150,
"start_physics_step": 8778
},
{
"action_index": 106,
"end_physics_step": 9080,
"physics_steps": 152,
"start_physics_step": 8928
},
{
"action_index": 107,
"end_physics_step": 9234,
"physics_steps": 154,
"start_physics_step": 9080
},
{
"action_index": 108,
"end_physics_step": 9390,
"physics_steps": 156,
"start_physics_step": 9234
},
{
"action_index": 109,
"end_physics_step": 9548,
"physics_steps": 158,
"start_physics_step": 9390
},
{
"action_index": 110,
"end_physics_step": 9706,
"physics_steps": 158,
"start_physics_step": 9548
},
{
"action_index": 111,
"end_physics_step": 9865,
"physics_steps": 159,
"start_physics_step": 9706
},
{
"action_index": 112,
"end_physics_step": 10023,
"physics_steps": 158,
"start_physics_step": 9865
},
{
"action_index": 113,
"end_physics_step": 10180,
"physics_steps": 157,
"start_physics_step": 10023
},
{
"action_index": 114,
"end_physics_step": 10336,
"physics_steps": 156,
"start_physics_step": 10180
},
{
"action_index": 115,
"end_physics_step": 10490,
"physics_steps": 154,
"start_physics_step": 10336
},
{
"action_index": 116,
"end_physics_step": 10641,
"physics_steps": 151,
"start_physics_step": 10490
},
{
"action_index": 117,
"end_physics_step": 10788,
"physics_steps": 147,
"start_physics_step": 10641
},
{
"action_index": 118,
"end_physics_step": 10931,
"physics_steps": 143,
"start_physics_step": 10788
},
{
"action_index": 119,
"end_physics_step": 11070,
"physics_steps": 139,
"start_physics_step": 10931
},
{
"action_index": 120,
"end_physics_step": 11203,
"physics_steps": 133,
"start_physics_step": 11070
},
{
"action_index": 121,
"end_physics_step": 11330,
"physics_steps": 127,
"start_physics_step": 11203
},
{
"action_index": 122,
"end_physics_step": 11450,
"physics_steps": 120,
"start_physics_step": 11330
},
{
"action_index": 123,
"end_physics_step": 11560,
"physics_steps": 110,
"start_physics_step": 11450
},
{
"action_index": 124,
"end_physics_step": 11659,
"physics_steps": 99,
"start_physics_step": 11560
},
{
"action_index": 125,
"end_physics_step": 11746,
"physics_steps": 87,
"start_physics_step": 11659
},
{
"action_index": 126,
"end_physics_step": 11817,
"physics_steps": 71,
"start_physics_step": 11746
},
{
"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": 12217,
"physics_steps": 50,
"start_physics_step": 12167
},
{
"action_index": 135,
"end_physics_step": 12267,
"physics_steps": 50,
"start_physics_step": 12217
},
{
"action_index": 136,
"end_physics_step": 12317,
"physics_steps": 50,
"start_physics_step": 12267
},
{
"action_index": 137,
"end_physics_step": 12367,
"physics_steps": 50,
"start_physics_step": 12317
},
{
"action_index": 138,
"end_physics_step": 12417,
"physics_steps": 50,
"start_physics_step": 12367
},
{
"action_index": 139,
"end_physics_step": 12467,
"physics_steps": 50,
"start_physics_step": 12417
},
{
"action_index": 140,
"end_physics_step": 12520,
"physics_steps": 53,
"start_physics_step": 12467
},
{
"action_index": 141,
"end_physics_step": 12593,
"physics_steps": 73,
"start_physics_step": 12520
},
{
"action_index": 142,
"end_physics_step": 12682,
"physics_steps": 89,
"start_physics_step": 12593
},
{
"action_index": 143,
"end_physics_step": 12785,
"physics_steps": 103,
"start_physics_step": 12682
},
{
"action_index": 144,
"end_physics_step": 12900,
"physics_steps": 115,
"start_physics_step": 12785
},
{
"action_index": 145,
"end_physics_step": 13026,
"physics_steps": 126,
"start_physics_step": 12900
},
{
"action_index": 146,
"end_physics_step": 13160,
"physics_steps": 134,
"start_physics_step": 13026
},
{
"action_index": 147,
"end_physics_step": 13302,
"physics_steps": 142,
"start_physics_step": 13160
},
{
"action_index": 148,
"end_physics_step": 13450,
"physics_steps": 148,
"start_physics_step": 13302
},
{
"action_index": 149,
"end_physics_step": 13603,
"physics_steps": 153,
"start_physics_step": 13450
},
{
"action_index": 150,
"end_physics_step": 13759,
"physics_steps": 156,
"start_physics_step": 13603
},
{
"action_index": 151,
"end_physics_step": 13916,
"physics_steps": 157,
"start_physics_step": 13759
},
{
"action_index": 152,
"end_physics_step": 14072,
"physics_steps": 156,
"start_physics_step": 13916
},
{
"action_index": 153,
"end_physics_step": 14226,
"physics_steps": 154,
"start_physics_step": 14072
},
{
"action_index": 154,
"end_physics_step": 14376,
"physics_steps": 150,
"start_physics_step": 14226
},
{
"action_index": 155,
"end_physics_step": 14519,
"physics_steps": 143,
"start_physics_step": 14376
},
{
"action_index": 156,
"end_physics_step": 14654,
"physics_steps": 135,
"start_physics_step": 14519
},
{
"action_index": 157,
"end_physics_step": 14730,
"physics_steps": 76,
"start_physics_step": 14654
}
],
"training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
"training_action_final_state": {
"grippers": [
0.0,
0.0
],
"object_position": [
0.03066912665963173,
-0.019310487434267998,
0.9498987197875977
],
"scanner_functional_point": [
0.00031135905510104936,
-0.025004631125468177,
0.9295829520313685,
0.5853087009736389,
-0.301041968663429,
0.7058824754917903,
-0.2617582634061061
]
},
"training_action_input_frames": 173,
"training_action_interarm_contact_steps": 0,
"training_action_minimum_capsule_distance_m": 0.16831677267581488,
"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": 14730,
"training_actions_executed": 158
}