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arm and the handheld scanner in the other to scan the red tea-box with golden designs." + ] +} diff --git a/scan_object/.accepted_bundles/episode0/phase_trace/episode0.json b/scan_object/.accepted_bundles/episode0/phase_trace/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..a6638ad4a769d20d470522408ae593fc12e58759 --- /dev/null +++ b/scan_object/.accepted_bundles/episode0/phase_trace/episode0.json @@ -0,0 +1,1400 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 0, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 164, + "head_unique_frame_ratio": 0.9512195121951219, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.9652978242886725e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 185.5497916666667, + "parallel_head_unique_frame_ratio": 0.9540229885057471, + "preset": { + 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.tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? 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[ + "Take the compact golden tea box and the barcode scanner together, one per arm, and scan the compact golden tea box." + ], + "unseen": [ + "Hold the small tea box in one arm and the trigger scanner in the other to scan the small tea box." + ] +} diff --git a/scan_object/.accepted_bundles/episode10/phase_trace/episode10.json b/scan_object/.accepted_bundles/episode10/phase_trace/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..5b095b1f3e9b5ef7da7081194da0eacd16de2986 --- /dev/null +++ b/scan_object/.accepted_bundles/episode10/phase_trace/episode10.json @@ -0,0 +1,1370 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 10, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 161, + "head_unique_frame_ratio": 0.9565217391304348, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.653973441348658e-08, + "maximum_wrist_consecutive_dark_frames": 0, + 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\"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? 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b/scan_object/.accepted_bundles/episode12/video/episode12.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5269a90b7737cb8be276226aba52201b1ed06557 --- /dev/null +++ b/scan_object/.accepted_bundles/episode12/video/episode12.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:289959dd51556297fb1dfe248e40bda1e286ec2ba930cfd6a896e95e6b8de74d +size 125604 diff --git a/scan_object/.accepted_bundles/episode13/data/episode13.hdf5 b/scan_object/.accepted_bundles/episode13/data/episode13.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..fd6c78b973420c9b52bed739fe134db4a7d483ac --- /dev/null +++ b/scan_object/.accepted_bundles/episode13/data/episode13.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1eb626a3dfd7efe6809dbf54174670def6252b116bf870b411cafa32fdea740 +size 30525561 diff --git a/scan_object/.accepted_bundles/episode13/instructions/episode13.json b/scan_object/.accepted_bundles/episode13/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..313fce2d82d41b18065922e0ef819426c3d9f79a --- /dev/null +++ b/scan_object/.accepted_bundles/episode13/instructions/episode13.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up the scanner the gun-shaped scanner and object the leaf-patterned green tea storage simultaneously, then scan." + ], + "unseen": [ + "Use one arm for the box with green leafy patterns and the other for the plastic yellow gun-shaped scanner, then scan." + ] +} diff --git a/scan_object/.accepted_bundles/episode13/phase_trace/episode13.json b/scan_object/.accepted_bundles/episode13/phase_trace/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..6f7490700940f20ef86d7841bb147673a0c4e72f --- /dev/null +++ b/scan_object/.accepted_bundles/episode13/phase_trace/episode13.json @@ -0,0 +1,1388 @@ +{ + "base_config": "parallelvla_clean_pcd", 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"end_physics_step": 1190, + "held_objects": [ + "scanner", + "object" + ], + "move_index": 1, + "name": "scanner_lift+object_lift", + "node_ids": [ + "scanner_lift", + "object_lift" + ], + "predecessors": [ + "scanner_grasp", + "object_grasp" + ], + "resources": [ + "left_arm", + "right_arm", + "scanner", + "object" + ], + "semantic_phase": "dual_lift", + "start_frame": 72, + "start_physics_step": 968, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left" + ], + "avoidable_idle_seconds": 2.228, + "end_frame": 131, + "end_physics_step": 1747, + "held_objects": [ + "object" + ], + "move_index": 2, + "name": "object_place", + "node_ids": [ + "object_place" + ], + "predecessors": [ + "object_lift" + ], + "resources": [ + "left_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 89, + "start_physics_step": 1190, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 162, + "end_physics_step": 2136, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "right_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 131, + "start_physics_step": 1747, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 13, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? 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task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml", + "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml", + "?? task_config/parallelvla_retimed_render.yml", + "?? task_config/parallelvla_smoke.yml", + "?? task_config/parallelvla_temporal_bias_verified_v1.yml" + ], + "sampled_frames": 162, + "scene_identity": { + "left_object_target_pose": [ + -0.03, + -0.02, + 0.95, + 0.707, + 0, + -0.707, + 0 + ], + "object_id": 0, + "object_pose": [ + -0.0733862966299057, + -0.08804453164339066, + 0.7405540347099304, + 0.5619234442710876, + 0.5611575245857239, + 0.4292325973510742, + 0.43023690581321716 + ], + "right_object_target_pose": [ + 0.03, + -0.02, + 0.95, + 0.707, + 0, + 0.707, + 0 + ], + "scanner_id": 4, + "scanner_pose": [ + 0.20951268076896667, + -0.08242039382457733, + 0.7377467751502991, + -0.33705976605415344, + -0.32598984241485596, + 0.6329174041748047, + 0.6160658597946167 + ] + }, + "schedule_mode": "dependency_aware_overlap", + 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"8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? 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"scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "left_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 138, + "start_physics_step": 1852, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 17, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml", + "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml", + "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml", + "?? 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sha256:5a3844ac75eadc45e805a3b2b9f5f7754c82973537f02865fcfc84a02494488a +size 125483 diff --git a/scan_object/.accepted_bundles/episode19/data/episode19.hdf5 b/scan_object/.accepted_bundles/episode19/data/episode19.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..0677f94cda237bda4da64b0f9ea4a1f19f40d0e3 --- /dev/null +++ b/scan_object/.accepted_bundles/episode19/data/episode19.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97ffc1e6fec8cdf337a15d34253b3c37484dac72a763c20d0e70f31e99fd42de +size 25954593 diff --git a/scan_object/.accepted_bundles/episode19/instructions/episode19.json b/scan_object/.accepted_bundles/episode19/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..0c5854bea8ba3c88a4a39c3a7679d186e7b28481 --- /dev/null +++ b/scan_object/.accepted_bundles/episode19/instructions/episode19.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the small rectangular tea-box using the right arm while the left arm picks the handheld scanner, then scan the small rectangular tea-box." + ], + "unseen": [ + "Pick the object the tea-box with smooth glossy finish and scanner the compact barcode scanner up together, then scan." + ] +} diff --git a/scan_object/.accepted_bundles/episode19/phase_trace/episode19.json b/scan_object/.accepted_bundles/episode19/phase_trace/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..2a49f2447e298c836bc317c587d8a56f66e05180 --- /dev/null +++ b/scan_object/.accepted_bundles/episode19/phase_trace/episode19.json @@ -0,0 +1,1394 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 19, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 164, + "head_unique_frame_ratio": 0.9512195121951219, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.3120998938217525e-08, + "maximum_wrist_consecutive_dark_frames": 0, + 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} + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 20, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? 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the yellow tea box with smooth surface with the hand scanner with blue lens area." + ], + "unseen": [ + "Pick the object the tea box with green leaves and scanner the small scanner fits in hand up together, then scan." + ] +} diff --git a/scan_object/.accepted_bundles/episode21/phase_trace/episode21.json b/scan_object/.accepted_bundles/episode21/phase_trace/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..128c7a5783e92b3484ef3700693f4290343e06ef --- /dev/null +++ b/scan_object/.accepted_bundles/episode21/phase_trace/episode21.json @@ -0,0 +1,1436 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 21, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 170, + "head_unique_frame_ratio": 0.9529411764705882, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.603358898236376e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + 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pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? 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"8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml", + "?? 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"camera_shader": "rt", + "episode": 27, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", + "?? 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"training_actions_executed": 151 +} diff --git a/scan_object/.accepted_bundles/episode27/video/episode27.mp4 b/scan_object/.accepted_bundles/episode27/video/episode27.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e7a6b2177b133b641341cc1e084368729e15b464 --- /dev/null +++ b/scan_object/.accepted_bundles/episode27/video/episode27.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee6e35d32b801faae7d3c0ae332077352809f46a23fcb114ddacd124b9859ba8 +size 111226 diff --git a/scan_object/.accepted_bundles/episode28/data/episode28.hdf5 b/scan_object/.accepted_bundles/episode28/data/episode28.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..562013eaf3e0177acde0723d278477625cce96ac --- /dev/null +++ b/scan_object/.accepted_bundles/episode28/data/episode28.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfc05dc08a5a0e65c23ec229d6fd2223510c072eaa956287c950f243c36ce007 +size 28927002 diff --git a/scan_object/.accepted_bundles/episode28/instructions/episode28.json b/scan_object/.accepted_bundles/episode28/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..0a3d8e65ce2f92819de89ed817c09896207e760b --- /dev/null +++ b/scan_object/.accepted_bundles/episode28/instructions/episode28.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Raise both the cardboard tea-box and the scanner with pointed bottom tip simultaneously and complete the scan." + ], + "unseen": [ + "Pick the object the black tea-box with golden details and scanner the compact barcode scanner up together, then scan." + ] +} diff --git a/scan_object/.accepted_bundles/episode28/phase_trace/episode28.json b/scan_object/.accepted_bundles/episode28/phase_trace/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..dce1835ce2105d8d0529d388bce247a18187092f --- /dev/null +++ b/scan_object/.accepted_bundles/episode28/phase_trace/episode28.json 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+ "end_frame": 91, + "end_physics_step": 1214, + "held_objects": [ + "scanner", + "object" + ], + "move_index": 1, + "name": "scanner_lift+object_lift", + "node_ids": [ + "scanner_lift", + "object_lift" + ], + "predecessors": [ + "scanner_grasp", + "object_grasp" + ], + "resources": [ + "left_arm", + "right_arm", + "scanner", + "object" + ], + "semantic_phase": "dual_lift", + "start_frame": 73, + "start_physics_step": 988, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "right" + ], + "avoidable_idle_seconds": 2.696, + "end_frame": 141, + "end_physics_step": 1888, + "held_objects": [ + "object" + ], + "move_index": 2, + "name": "object_place", + "node_ids": [ + "object_place" + ], + "predecessors": [ + "object_lift" + ], + "resources": [ + "right_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 91, + "start_physics_step": 1214, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 172, + "end_physics_step": 2279, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "left_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 141, + "start_physics_step": 1888, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 28, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? 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green leafy patterns with the handheld scanner." + ] +} diff --git a/scan_object/.accepted_bundles/episode29/phase_trace/episode29.json b/scan_object/.accepted_bundles/episode29/phase_trace/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..d78c76210fcd8619cfe18930594ac0659ef215b8 --- /dev/null +++ b/scan_object/.accepted_bundles/episode29/phase_trace/episode29.json @@ -0,0 +1,1466 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 29, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 178, + "head_unique_frame_ratio": 0.9606741573033708, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 5.4623391615438166e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 196.40450303819443, + "parallel_head_unique_frame_ratio": 0.968421052631579, + "preset": { + "calibration_manifest_sha256": 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scanner." + ], + "unseen": [ + "Raise the glossy tea-box and the compact black barcode scanner in parallel and scan the glossy tea-box with the compact black barcode scanner." + ] +} diff --git a/scan_object/.accepted_bundles/episode3/phase_trace/episode3.json b/scan_object/.accepted_bundles/episode3/phase_trace/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..6644d90794d312595d4d81193a14ecb4ff4efa56 --- /dev/null +++ b/scan_object/.accepted_bundles/episode3/phase_trace/episode3.json @@ -0,0 +1,1382 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 3, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 161, + "head_unique_frame_ratio": 0.9565217391304348, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.5180279531487066e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 196.55395833333333, + 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"parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 30, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? 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b/scan_object/.accepted_bundles/episode31/instructions/episode31.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use the right arm and the left arm together to lift the rectangular yellow tea box and the black scanner, then scan." + ], + "unseen": [ + "Hold the tea box with green leaves and the handheld scanner with blue activation trigger in separate arms and use the handheld scanner with blue activation trigger to scan the tea box with green leaves." + ] +} diff --git a/scan_object/.accepted_bundles/episode31/phase_trace/episode31.json b/scan_object/.accepted_bundles/episode31/phase_trace/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..a23b63f40efe7a3ced89a2097a4b0eb6b08a0b88 --- /dev/null +++ b/scan_object/.accepted_bundles/episode31/phase_trace/episode31.json @@ -0,0 +1,1502 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 31, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 181, + 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3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "left_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 143, + "start_physics_step": 1936, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 31, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? 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b/scan_object/.accepted_bundles/episode34/instructions/episode34.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up the scanner the black plastic scanner with blue trim and object the red cuboid-shaped tea-box simultaneously, then scan." + ], + "unseen": [ + "Grab the red tea-box with golden designs while grabbing the handheld scanner with blue activation trigger with the other arm, then scan." + ] +} diff --git a/scan_object/.accepted_bundles/episode34/phase_trace/episode34.json b/scan_object/.accepted_bundles/episode34/phase_trace/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..13103562dd18c8aa54f13ab2dc6fa7e9b8a636a6 --- /dev/null +++ b/scan_object/.accepted_bundles/episode34/phase_trace/episode34.json @@ -0,0 +1,1406 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 34, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 164, + "head_unique_frame_ratio": 0.9512195121951219, + 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"node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "right_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 129, + "start_physics_step": 1728, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 34, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml", + "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml", + "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml", + "?? task_config/parallelvla_retimed_render.yml", + "?? task_config/parallelvla_smoke.yml", + "?? 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blue activation trigger in the other to scan the small tea box." + ] +} diff --git a/scan_object/.accepted_bundles/episode35/phase_trace/episode35.json b/scan_object/.accepted_bundles/episode35/phase_trace/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..b258e9df741e7497cef24528e632784333eaf46e --- /dev/null +++ b/scan_object/.accepted_bundles/episode35/phase_trace/episode35.json @@ -0,0 +1,1514 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 35, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 179, + "head_unique_frame_ratio": 0.9608938547486033, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.612649405488778e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 200.57821180555555, + "parallel_head_unique_frame_ratio": 0.9690721649484536, + "preset": { + "calibration_manifest_sha256": 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head with the small cube-shaped tea container." + ], + "unseen": [ + "Hold the beige box with golden decoration in one arm and the yellow and black scanner in the other to scan the beige box with golden decoration." + ] +} diff --git a/scan_object/.accepted_bundles/episode39/phase_trace/episode39.json b/scan_object/.accepted_bundles/episode39/phase_trace/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..2f7a90b87c25d3d9041eaa9764e0571f5d11acb8 --- /dev/null +++ b/scan_object/.accepted_bundles/episode39/phase_trace/episode39.json @@ -0,0 +1,1412 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 39, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 167, + "head_unique_frame_ratio": 0.9461077844311377, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.1829661692749376e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + 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scanner." + ], + "unseen": [ + "Grab the rectangular green box for tea while grabbing the compact black barcode scanner with the other arm, then scan." + ] +} diff --git a/scan_object/.accepted_bundles/episode40/phase_trace/episode40.json b/scan_object/.accepted_bundles/episode40/phase_trace/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..b87587837c05b1696e3fb17cc87f6617bc2158a4 --- /dev/null +++ b/scan_object/.accepted_bundles/episode40/phase_trace/episode40.json @@ -0,0 +1,1430 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 40, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 169, + "head_unique_frame_ratio": 0.9408284023668639, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.323944338691099e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 198.0898828125, + 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"start_physics_step": 1738, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 40, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? 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"scanner_grasp", + "object_grasp" + ], + "predecessors": [], + "resources": [ + "left_arm", + "right_arm", + "scanner", + "object" + ], + "semantic_phase": "dual_grasp", + "start_frame": 0, + "start_physics_step": 0, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "right", + "left" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 86, + "end_physics_step": 1141, + "held_objects": [ + "scanner", + "object" + ], + "move_index": 1, + "name": "scanner_lift+object_lift", + "node_ids": [ + "scanner_lift", + "object_lift" + ], + "predecessors": [ + "scanner_grasp", + "object_grasp" + ], + "resources": [ + "left_arm", + "right_arm", + "scanner", + "object" + ], + "semantic_phase": "dual_lift", + "start_frame": 68, + "start_physics_step": 911, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left" + ], + "avoidable_idle_seconds": 2.352, + "end_frame": 130, + "end_physics_step": 1729, + "held_objects": [ + "object" + ], + "move_index": 2, + "name": "object_place", + "node_ids": [ + "object_place" + ], + "predecessors": [ + "object_lift" + ], + "resources": [ + "left_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 86, + "start_physics_step": 1141, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 165, + "end_physics_step": 2179, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "right_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 130, + "start_physics_step": 1729, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 44, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? 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+ ], + "unseen": [ + "Pick the object the box with green leafy patterns and scanner the yellow and black scanner up together, then scan." + ] +} diff --git a/scan_object/.accepted_bundles/episode46/phase_trace/episode46.json b/scan_object/.accepted_bundles/episode46/phase_trace/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..ba0292c41c5bcb4a32db7e533b8dca534bfa7e08 --- /dev/null +++ b/scan_object/.accepted_bundles/episode46/phase_trace/episode46.json @@ -0,0 +1,1448 @@ +{ + "base_config": "parallelvla_clean_pcd", + "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, + 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.tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? 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], + "move_index": 2, + "name": "object_place", + "node_ids": [ + "object_place" + ], + "predecessors": [ + "object_lift" + ], + "resources": [ + "right_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 88, + "start_physics_step": 1170, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 174, + "end_physics_step": 2311, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "left_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 138, + "start_physics_step": 1846, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 48, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? 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b/scan_object/.accepted_bundles/episode6/data/episode6.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4d64bfbfa490fa1919da38db17e4427dccda3d85affc6289981946bc4ce865c +size 26975109 diff --git a/scan_object/.accepted_bundles/episode6/instructions/episode6.json b/scan_object/.accepted_bundles/episode6/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..51494e56b45fa45d59de88b7802059a73cfccc8b --- /dev/null +++ b/scan_object/.accepted_bundles/episode6/instructions/episode6.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Take the smooth cube with golden leaf designs and the black scanner together, one per arm, and scan the smooth cube with golden leaf designs." + ], + "unseen": [ + "Grasp the beige box with golden decoration and the handheld scanner with blue activation trigger simultaneously using separate arms, then scan." + ] +} diff --git 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[ + "object" + ], + "move_index": 2, + "name": "object_place", + "node_ids": [ + "object_place" + ], + "predecessors": [ + "object_lift" + ], + "resources": [ + "right_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 90, + "start_physics_step": 1206, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 180, + "end_physics_step": 2405, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "left_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 145, + "start_physics_step": 1951, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 6, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", + "?? 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assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? 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"right_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 93, + "start_physics_step": 1254, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 180, + "end_physics_step": 2417, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "left_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 144, + "start_physics_step": 1949, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 9, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? 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-0.14525936543941498, + 0.7408512830734253, + 0.5032018423080444, + 0.5031005144119263, + 0.4968278110027313, + 0.4968300461769104 + ], + "right_object_target_pose": [ + 0.03, + -0.02, + 0.95, + 0.707, + 0, + 0.707, + 0 + ], + "scanner_id": 2, + "scanner_pose": [ + -0.07620882242918015, + -0.05520934984087944, + 0.741139829158783, + 0.32680031657218933, + 0.3231900930404663, + 0.62787926197052, + 0.6281061768531799 + ] + }, + "seed": 201 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer_seed87449_20260813.yml", + "?? task_config/parallelvla_putcab_heldout5_parallel_sync0_20260813.yml", + "?? task_config/parallelvla_putcab_heldout5_serial_expert_20260813.yml", + "?? task_config/parallelvla_retimed_render.yml", + "?? task_config/parallelvla_smoke.yml", + "?? task_config/parallelvla_temporal_bias_verified_v1.yml" + ], + "schema_version": 5, + "seed_policy": "independent", + "source_files_sha256": { + "RoboTwin/envs/_base_task.py": "8599e7e6826a0f813364d6833b622d77f30b28ce3be2776806246845c3269a11", + "RoboTwin/envs/blocks_ranking_rgb.py": "0e632df38d9024e7952c0df7a1f59e3d011b537724e6e6588455dee4d4e6074b", + "RoboTwin/envs/pick_dual_bottles.py": "422f23510f3662405dcb5518d1ebe8a0270935849a4b02a2585615ff7bffc4ef", + "RoboTwin/envs/place_dual_shoes.py": "f35c4a133e1de567b274cbd15f158f585eb05e32aeb05be88839d249d0d7ab9e", + "RoboTwin/envs/put_bottles_dustbin.py": "1c03a4b227daa7d285fa366944f1f75773e32dc6a7b73ab693217a13fcd42795", + "RoboTwin/envs/scan_object.py": "860dfe2cc86d180096089bc87502c7904f7ce2efb64fb32620c1720ca0178c2b", + "RoboTwin/scripts/collect_data.py": "101664a3d5313242cd30b3d013a08376d2930a5b3e1a8ce044362a200871a5e3", + "RoboTwin/task_config/parallelvla_clean_pcd.yml": "25ce6b1167c77ddea7af43db4afa9210b726f5c9974922d682d3ce128eb13427", + "RoboTwin/task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1", + "RoboTwin/task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml": "af90de9fa9344faa0c0b0c6d6b21a24890d9d27d23f59fae3663fd6f0ef20ff1", + "robotwin_retime_gen/scripts/robotwin_collect_timing_pairs.py": "1c23c3e2af85c701771e269506ed50d4eb9cfec44ebd248a230f2b4459e20daf", + "robotwin_retime_gen/scripts/robotwin_collection_benchmark.py": "015f09b4ec8c3e9407dc5d84bc62328418dba3c5f37e8b03823891b2123d608e", + "robotwin_retime_gen/scripts/robotwin_schedule_diagnostics.py": "477bcbe9f3660d2816477010c9a208759d0f4f92e9282a92d7c2b6c527b6c5ba", + "robotwin_retime_gen/scripts/robotwin_timing_runtime.py": "a945f132d6a22cfada1182987e70cebf2fccda2a7403c70eee5286aacf430ea9", + "robotwin_retime_gen/scripts/robotwin_timing_tasks.py": "4ad8ff1f7efc85e5838da557f07574b3df48f11daca537b554c69c60da6394dd", + "robotwin_retime_gen/src/parallel_vla/collection_summaries.py": "76408ba77279d8e120b43830e15fd78ea6e8ab8acecbefdeaceff3a725207058", + "robotwin_retime_gen/src/parallel_vla/put_bottles_scheduler.py": "68153aca27946e58fcefaffd20aef61a755dc8f84695e1d8e53967124aab00db", + "robotwin_retime_gen/src/parallel_vla/robotwin_camera_validation.py": "f9385140f592a3a425d85aa6e16f498d93cc49144b382dc141975a3915289874", + "robotwin_retime_gen/src/parallel_vla/robotwin_collection_worker.py": "c600984195dd304a053789ad7e44c09cb4bc7c173cf5cbea9d6a5c129cfdfff5", + "robotwin_retime_gen/src/parallel_vla/robotwin_renderer.py": "4a86c09dc44b785177bec69f78690ba781ed345b87563eda1af5f4a5c2cd688f", + "robotwin_retime_gen/src/parallel_vla/robotwin_training_conversion.py": "eb29130a39be4d083b91296aee440102b51267daac8d4b5b496df6c36495f57b", + "robotwin_retime_gen/src/parallel_vla/robotwin_wrist_camera.py": "6c0776ad416baf4e580d1eccb7f17d4859abe83b13105eccf8342e9a870a8538", + "robotwin_retime_gen/src/parallel_vla/timing_pair_validation.py": "6f987c6c820f746dc0bf620f381624c257c2f4da273f470c12314049b56f0405", + "robotwin_retime_gen/src/parallel_vla/timing_pairs.py": "64c7a900c0c09968768eecf6e8a3408db515b2d1aadcfc470565d82c2e14af6d", + "robotwin_retime_gen/src/parallel_vla/training_actions.py": "e4ce6e376be0e227032415f708c7984b520fba9babd468e81dec003cb40a0292" + }, + "task": "scan_object", + "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1", + "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", + "validate_synchronized_training_replay": true, + "variant": "dependency_aware_overlap", + "wrist_camera_preset": "centered_fovy90" +} diff --git a/scan_object/instructions/episode0.json b/scan_object/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..5f495e61f150418fbf6a1e59ef29d0e3c1b520e0 --- /dev/null +++ b/scan_object/instructions/episode0.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Take the red cuboid-shaped tea-box and the scanner with curved grip together, one per arm, and scan the red cuboid-shaped tea-box." + ], + "unseen": [ + "Hold the red tea-box with golden designs in one arm and the handheld scanner in the other to scan the red tea-box with golden designs." + ] +} diff --git a/scan_object/instructions/episode1.json b/scan_object/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..ac452447f42a9dc813474a858e83f7fcb429bbfc --- /dev/null +++ b/scan_object/instructions/episode1.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grab the tea box and the scanner for reading barcodes at the same time and scan the tea box with the scanner for reading barcodes." + ], + "unseen": [ + "Raise the light beige cube and the small scanner fits in hand in parallel and scan the light beige cube with the small scanner fits in hand." + ] +} diff --git a/scan_object/instructions/episode10.json b/scan_object/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..13d9b0929dd323c3371911523d4c2d8b93b8ed39 --- /dev/null +++ b/scan_object/instructions/episode10.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Take the compact golden tea box and the barcode scanner together, one per arm, and scan the compact golden tea box." + ], + "unseen": [ + "Hold the small tea box in one arm and the trigger scanner in the other to scan the small tea box." + ] +} diff --git a/scan_object/instructions/episode11.json b/scan_object/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..9d12976c87ab10a53e755b53bcd4b81da7b1527f --- /dev/null +++ b/scan_object/instructions/episode11.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the cardboard tea box with logo while picking the scanner with flat reading surface with the other arm, then scan the cardboard tea box with logo." + ], + "unseen": [ + "Lift both the box with green leafy patterns and the barcode scanner at once before scanning the box with green leafy patterns." + ] +} diff --git a/scan_object/instructions/episode12.json b/scan_object/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..9dbeb3811d8ca796d0879893da1a823d29619630 --- /dev/null +++ b/scan_object/instructions/episode12.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously lift the black tea-box with gold logo and the L-shaped scanner for barcode reading, then use the L-shaped scanner for barcode reading to scan the black tea-box with gold logo." + ], + "unseen": [ + "Grab the black tea-box with golden details while grabbing the handheld scanner with blue activation trigger with the other arm, then scan." + ] +} diff --git a/scan_object/instructions/episode13.json b/scan_object/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..313fce2d82d41b18065922e0ef819426c3d9f79a --- /dev/null +++ b/scan_object/instructions/episode13.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up the scanner the gun-shaped scanner and object the leaf-patterned green tea storage simultaneously, then scan." + ], + "unseen": [ + "Use one arm for the box with green leafy patterns and the other for the plastic yellow gun-shaped scanner, then scan." + ] +} diff --git a/scan_object/instructions/episode14.json b/scan_object/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..10428809a645a2eca2fa24a7bfcd45d04abd9d91 --- /dev/null +++ b/scan_object/instructions/episode14.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the cuboid tea box using the right arm while the left arm picks the scanner for reading barcodes, then scan the cuboid tea box." + ], + "unseen": [ + "Pick the object the tea box with green leaves and scanner the handheld scanner with blue activation trigger up together, then scan." + ] +} diff --git a/scan_object/instructions/episode15.json b/scan_object/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..18bd86a47e9011833e9ee0d3b938094b1663e529 --- /dev/null +++ b/scan_object/instructions/episode15.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Hold the object the compact tea-box and scanner the gun-shaped scanner in separate arms and scan." + ], + "unseen": [ + "Secure both items simultaneously, holding the yellow and black scanner near the glossy tea-box for scanning." + ] +} diff --git a/scan_object/instructions/episode16.json b/scan_object/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..5c0e26334925b686df21d155d4c7a788931a86bd --- /dev/null +++ b/scan_object/instructions/episode16.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grab the hard plastic tea-box and the lightweight handheld barcode scanner at the same time and scan the hard plastic tea-box with the lightweight handheld barcode scanner." + ], + "unseen": [ + "Pick up the glossy tea-box and the barcode scanner together, then scan the glossy tea-box with the barcode scanner." + ] +} diff --git a/scan_object/instructions/episode17.json b/scan_object/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..0ca6821835d6767b777f23b2d556504d6122852b --- /dev/null +++ b/scan_object/instructions/episode17.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up the gold accented tea-box and the barcode scanner with gray accents in parallel with the right arm and the left arm, then scan." + ], + "unseen": [ + "Grab the black tea-box with golden details while grabbing the scanner for barcode scanning with the other arm, then scan." + ] +} diff --git a/scan_object/instructions/episode18.json b/scan_object/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..645c026d479ecbc05da9e8dce4553983dfb5d554 --- /dev/null +++ b/scan_object/instructions/episode18.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously grasp the glossy bright tea-box with the left arm and the L-shaped scanner for barcode reading with the right arm, then scan the glossy bright tea-box." + ], + "unseen": [ + "Pick up the red tea-box with golden designs and the black scanner with ergonomic handle together, then scan the red tea-box with golden designs with the black scanner with ergonomic handle." + ] +} diff --git a/scan_object/instructions/episode19.json b/scan_object/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..0c5854bea8ba3c88a4a39c3a7679d186e7b28481 --- /dev/null +++ b/scan_object/instructions/episode19.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the small rectangular tea-box using the right arm while the left arm picks the handheld scanner, then scan the small rectangular tea-box." + ], + "unseen": [ + "Pick the object the tea-box with smooth glossy finish and scanner the compact barcode scanner up together, then scan." + ] +} diff --git a/scan_object/instructions/episode2.json b/scan_object/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..53f8a8798760047c1355b6f769be18fa44e9c43d --- /dev/null +++ b/scan_object/instructions/episode2.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Hold the tea box with leafy design using the right arm and the scanner with smooth black body using the left arm, then scan the tea box with leafy design." + ], + "unseen": [ + "Hold the rectangular green box for tea in one arm and the small scanner fits in hand in the other to scan the rectangular green box for tea." + ] +} diff --git a/scan_object/instructions/episode20.json b/scan_object/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..e86a79040287b4bb1925f08839a3af2f15e188b3 --- /dev/null +++ b/scan_object/instructions/episode20.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Raise both the box for holding tea and the black scanner simultaneously and complete the scan." + ], + "unseen": [ + "Lift both the red tea-box and the small scanner fits in hand at once before scanning the red tea-box." + ] +} diff --git a/scan_object/instructions/episode21.json b/scan_object/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..b410fc1fa685828463faba147b8f717f1fb1aa61 --- /dev/null +++ b/scan_object/instructions/episode21.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Lift the yellow tea box with smooth surface and the hand scanner with blue lens area together before scanning the yellow tea box with smooth surface with the hand scanner with blue lens area." + ], + "unseen": [ + "Pick the object the tea box with green leaves and scanner the small scanner fits in hand up together, then scan." + ] +} diff --git a/scan_object/instructions/episode22.json b/scan_object/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..b52d35e65de6e2244de39b0c8e1e7f1d81d101d7 --- /dev/null +++ b/scan_object/instructions/episode22.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick both items up together and use the scanner with curved top and flat bottom to scan the box for holding tea." + ], + "unseen": [ + "Grasp the red tea-box and the handheld scanner with blue activation trigger simultaneously using separate arms, then scan." + ] +} diff --git a/scan_object/instructions/episode23.json b/scan_object/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..dc670f652db31b52a1921ffeb1e11bfd48c3a77c --- /dev/null +++ b/scan_object/instructions/episode23.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use both arms in parallel for the hard plastic tea-box and the handheld scanner, then perform the scan." + ], + "unseen": [ + "Pick up the tea-box with smooth glossy finish and the small scanner fits in hand together, then scan the tea-box with smooth glossy finish with the small scanner fits in hand." + ] +} diff --git a/scan_object/instructions/episode24.json b/scan_object/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..8684d40d59fce3d3f0c8176164e58c732732c8d1 --- /dev/null +++ b/scan_object/instructions/episode24.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick both items up together and use the small black handheld scanner to scan the gold-decorated beige tea box." + ], + "unseen": [ + "Hold the cube tea box with shiny embossed patterns in one arm and the scanner with wide top section in the other to scan the cube tea box with shiny embossed patterns." + ] +} diff --git a/scan_object/instructions/episode25.json b/scan_object/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..5434a21fe9a29bc31737a1a337ba103af36f9f31 --- /dev/null +++ b/scan_object/instructions/episode25.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously secure the smooth tea-box and the scanner with curved handle, then move the scanner with curved handle close to scan the smooth tea-box." + ], + "unseen": [ + "Secure both items simultaneously, holding the scanner for barcode scanning near the tea-box with small handle for scanning." + ] +} diff --git a/scan_object/instructions/episode26.json b/scan_object/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..892b18027919bec1e6ceace13b09e35be684169c --- /dev/null +++ b/scan_object/instructions/episode26.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use separate arms to grasp the square-shaped tea box and the scanner with trigger on handle together, then scan the square-shaped tea box." + ], + "unseen": [ + "Hold the tea box with green leaves in one arm and the compact black barcode scanner in the other to scan the tea box with green leaves." + ] +} diff --git a/scan_object/instructions/episode27.json b/scan_object/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..3b9a1cccdaf8363b404e88653d81d05cc6daa062 --- /dev/null +++ b/scan_object/instructions/episode27.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the rectangular yellow tea box using the left arm while the right arm picks the black scanner with smooth texture, then scan the rectangular yellow tea box." + ], + "unseen": [ + "Grasp the tea box with green leaves and the scanner with wide top section simultaneously using separate arms, then scan." + ] +} diff --git a/scan_object/instructions/episode28.json b/scan_object/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..0a3d8e65ce2f92819de89ed817c09896207e760b --- /dev/null +++ b/scan_object/instructions/episode28.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Raise both the cardboard tea-box and the scanner with pointed bottom tip simultaneously and complete the scan." + ], + "unseen": [ + "Pick the object the black tea-box with golden details and scanner the compact barcode scanner up together, then scan." + ] +} diff --git a/scan_object/instructions/episode29.json b/scan_object/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..fde183e45b0bf077954cec7aee16f472f742b8ea --- /dev/null +++ b/scan_object/instructions/episode29.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the leaf-patterned green tea storage while picking the barcode scanner with flat top with the other arm, then scan the leaf-patterned green tea storage." + ], + "unseen": [ + "Pick up the box with green leafy patterns and the handheld scanner together, then scan the box with green leafy patterns with the handheld scanner." + ] +} diff --git a/scan_object/instructions/episode3.json b/scan_object/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..e672121b5560e034bdaf5bb4dfca681625c471f6 --- /dev/null +++ b/scan_object/instructions/episode3.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Secure the plastic tea-box and the black and gray portable scanner at once, then scan the plastic tea-box using the black and gray portable scanner." + ], + "unseen": [ + "Raise the glossy tea-box and the compact black barcode scanner in parallel and scan the glossy tea-box with the compact black barcode scanner." + ] +} diff --git a/scan_object/instructions/episode30.json b/scan_object/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..96501f678170e5e0092e719493ecb24b4f22fa13 --- /dev/null +++ b/scan_object/instructions/episode30.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Lift the yellow tea box with smooth surface and the scanner with gray accents together before scanning the yellow tea box with smooth surface with the scanner with gray accents." + ], + "unseen": [ + "Lift both the tea box with green leaves and the compact black barcode scanner at once before scanning the tea box with green leaves." + ] +} diff --git a/scan_object/instructions/episode31.json b/scan_object/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..0fdc954d24eaf6e39c9959441d94da6786a05cb8 --- /dev/null +++ b/scan_object/instructions/episode31.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use the right arm and the left arm together to lift the rectangular yellow tea box and the black scanner, then scan." + ], + "unseen": [ + "Hold the tea box with green leaves and the handheld scanner with blue activation trigger in separate arms and use the handheld scanner with blue activation trigger to scan the tea box with green leaves." + ] +} diff --git a/scan_object/instructions/episode32.json b/scan_object/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..469c7a7aa8bd8447599970f26b2508754203095c --- /dev/null +++ b/scan_object/instructions/episode32.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Raise both the tea box with beige edges and the barcode scanner simultaneously and complete the scan." + ], + "unseen": [ + "Grab the compact tea box while grabbing the handheld scanner with blue activation trigger with the other arm, then scan." + ] +} diff --git a/scan_object/instructions/episode33.json b/scan_object/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..b26d444bc736c37daf97ae2242eddef00e06eb80 --- /dev/null +++ b/scan_object/instructions/episode33.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp the beige-edged green tea box and the scanner with trigger on handle in parallel, then align the scanner with trigger on handle with the beige-edged green tea box." + ], + "unseen": [ + "Pick up the rectangular green box for tea and the handheld scanner together, then scan the rectangular green box for tea with the handheld scanner." + ] +} diff --git a/scan_object/instructions/episode34.json b/scan_object/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..007549cf1ac54f0ddc7986c6b647edaca556f9dd --- /dev/null +++ b/scan_object/instructions/episode34.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up the scanner the black plastic scanner with blue trim and object the red cuboid-shaped tea-box simultaneously, then scan." + ], + "unseen": [ + "Grab the red tea-box with golden designs while grabbing the handheld scanner with blue activation trigger with the other arm, then scan." + ] +} diff --git a/scan_object/instructions/episode35.json b/scan_object/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..ccc00bc0d1791367bdaabbdb0b8f8b73343a9d2c --- /dev/null +++ b/scan_object/instructions/episode35.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up the scanner the handheld scanner and object the yellow box for tea simultaneously, then scan." + ], + "unseen": [ + "Hold the small tea box in one arm and the handheld scanner with blue activation trigger in the other to scan the small tea box." + ] +} diff --git a/scan_object/instructions/episode36.json b/scan_object/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..6e4537dc96f0c946fcd06e9e9e6c5207f96663dc --- /dev/null +++ b/scan_object/instructions/episode36.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use the right arm for the decorative tea-box and the left arm for the L-shaped scanner for barcode reading simultaneously, then scan the decorative tea-box." + ], + "unseen": [ + "Hold the small tea-box in one arm and the handheld scanner with blue activation trigger in the other to scan the small tea-box." + ] +} diff --git a/scan_object/instructions/episode37.json b/scan_object/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..cda1e982b6d70c85aaebc0909fdd8affa89d8aaf --- /dev/null +++ b/scan_object/instructions/episode37.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grab the red cuboid-shaped tea-box and the black plastic scanner with blue trim at the same time and scan the red cuboid-shaped tea-box with the black plastic scanner with blue trim." + ], + "unseen": [ + "Use one arm for the medium tea-box for gatherings and the other for the small scanner fits in hand, then scan." + ] +} diff --git a/scan_object/instructions/episode38.json b/scan_object/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..02ca64872d9736ee28548ae4a01e50089650c83e --- /dev/null +++ b/scan_object/instructions/episode38.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use the right arm and the left arm together to lift the gold-decorated beige tea box and the black and gray portable scanner, then scan." + ], + "unseen": [ + "Lift both the light beige cube and the barcode scanner at once before scanning the light beige cube." + ] +} diff --git a/scan_object/instructions/episode39.json b/scan_object/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..c3451fbf5d417c621e2b4d791d849008e262f111 --- /dev/null +++ b/scan_object/instructions/episode39.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp the small cube-shaped tea container and the scanner with scanning head in parallel, then align the scanner with scanning head with the small cube-shaped tea container." + ], + "unseen": [ + "Hold the beige box with golden decoration in one arm and the yellow and black scanner in the other to scan the beige box with golden decoration." + ] +} diff --git a/scan_object/instructions/episode4.json b/scan_object/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..b71f26f171ada2fcf42b09d7eee707396bfa5c80 --- /dev/null +++ b/scan_object/instructions/episode4.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp the black tea-box with gold logo and the scanner with black rubber grip together using the left arm and the right arm; scan the black tea-box with gold logo with the scanner with black rubber grip." + ], + "unseen": [ + "Lift both the small tea-box and the plastic yellow gun-shaped scanner at once before scanning the small tea-box." + ] +} diff --git a/scan_object/instructions/episode40.json b/scan_object/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..faa2c6c23c1f7c214adccfa0ffac9cb88c50822a --- /dev/null +++ b/scan_object/instructions/episode40.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grab the tea box with leafy design and the black scanner at the same time and scan the tea box with leafy design with the black scanner." + ], + "unseen": [ + "Grab the rectangular green box for tea while grabbing the compact black barcode scanner with the other arm, then scan." + ] +} diff --git a/scan_object/instructions/episode41.json b/scan_object/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..5185d81f696bc0463ed417e4a743d4498e21053b --- /dev/null +++ b/scan_object/instructions/episode41.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "With the left arm, hold the rectangular yellow tea box; with the right arm, hold the handheld scanner; then scan the rectangular yellow tea box." + ], + "unseen": [ + "Raise the tea box with green leaves and the plastic yellow gun-shaped scanner in parallel and scan the tea box with green leaves with the plastic yellow gun-shaped scanner." + ] +} diff --git a/scan_object/instructions/episode42.json b/scan_object/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..f781dd28f9dafa0fa339fb90537727faa5c126d4 --- /dev/null +++ b/scan_object/instructions/episode42.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use both arms in parallel for the tea box and the scanner for barcodes, then perform the scan." + ], + "unseen": [ + "Secure both items simultaneously, holding the trigger scanner near the cube tea box with shiny embossed patterns for scanning." + ] +} diff --git a/scan_object/instructions/episode43.json b/scan_object/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..1c2331bce41868370596c3985b63f22a589c4dc1 --- /dev/null +++ b/scan_object/instructions/episode43.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Hold the tea-box with rectangular edges in one arm and the scanner with gray accents in the other, then scan the tea-box with rectangular edges." + ], + "unseen": [ + "Pick the object the red tea-box with golden designs and scanner the barcode scanner up together, then scan." + ] +} diff --git a/scan_object/instructions/episode44.json b/scan_object/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..da8fea8953f45205a75e335aa5213a97a3b29522 --- /dev/null +++ b/scan_object/instructions/episode44.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use the left arm and the right arm together to lift the compact tea-box and the smooth plastic barcode scanner, then scan." + ], + "unseen": [ + "Hold the tea-box with small handle in one arm and the barcode scanner in the other to scan the tea-box with small handle." + ] +} diff --git a/scan_object/instructions/episode45.json b/scan_object/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..58e7b2656f82f9db397b91865d5c8092f1712602 --- /dev/null +++ b/scan_object/instructions/episode45.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use the left arm for the yellow tea box with smooth surface and the right arm for the black scanner with gray textured tip simultaneously, then scan the yellow tea box with smooth surface." + ], + "unseen": [ + "Grasp the tea box with green leaves and the scanner with wide top section simultaneously using separate arms, then scan." + ] +} diff --git a/scan_object/instructions/episode46.json b/scan_object/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..030eda040b8b4386b0eea344357f4b3ae2377de3 --- /dev/null +++ b/scan_object/instructions/episode46.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the green box with tea label while picking the barcode scanner with the other arm, then scan the green box with tea label." + ], + "unseen": [ + "Pick the object the box with green leafy patterns and scanner the yellow and black scanner up together, then scan." + ] +} diff --git a/scan_object/instructions/episode47.json b/scan_object/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..c09aae941679e35d6d89630d163a77515c03e7d6 --- /dev/null +++ b/scan_object/instructions/episode47.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp the square-shaped tea box and the L-shaped scanner for barcode reading in parallel, then align the L-shaped scanner for barcode reading with the square-shaped tea box." + ], + "unseen": [ + "Lift both the small tea box and the black scanner with ergonomic handle at once before scanning the small tea box." + ] +} diff --git a/scan_object/instructions/episode48.json b/scan_object/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..563c00f0cd67c1dfe1d4b5102c6d22bc0cda362d --- /dev/null +++ b/scan_object/instructions/episode48.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp both the beige-edged green tea box and the L-shaped scanner for barcode reading simultaneously, then bring the L-shaped scanner for barcode reading to the beige-edged green tea box." + ], + "unseen": [ + "Grab the compact tea box while grabbing the black scanner with ergonomic handle with the other arm, then scan." + ] +} diff --git a/scan_object/instructions/episode49.json b/scan_object/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..533e04f29eb2b6bdc2b7bab67003bea2ff2f6134 --- /dev/null +++ b/scan_object/instructions/episode49.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grab the compact rectangular tea-box and the scanner with smooth black body at the same time and scan the compact rectangular tea-box with the scanner with smooth black body." + ], + "unseen": [ + "Secure both items simultaneously, holding the black scanner with ergonomic handle near the black tea-box with golden details for scanning." + ] +} diff --git a/scan_object/instructions/episode5.json b/scan_object/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..4e57c9d2234fa0178883cf785199aabbd4fbe043 --- /dev/null +++ b/scan_object/instructions/episode5.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up the scanner the hand scanner with blue lens area and object the glossy bright tea-box simultaneously, then scan." + ], + "unseen": [ + "Grasp the red tea-box and the black scanner with ergonomic handle simultaneously using separate arms, then scan." + ] +} diff --git a/scan_object/instructions/episode6.json b/scan_object/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..51494e56b45fa45d59de88b7802059a73cfccc8b --- /dev/null +++ b/scan_object/instructions/episode6.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Take the smooth cube with golden leaf designs and the black scanner together, one per arm, and scan the smooth cube with golden leaf designs." + ], + "unseen": [ + "Grasp the beige box with golden decoration and the handheld scanner with blue activation trigger simultaneously using separate arms, then scan." + ] +} diff --git a/scan_object/instructions/episode7.json b/scan_object/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..46656c0275e321dc9e609ddf5bf9588044b28f11 --- /dev/null +++ b/scan_object/instructions/episode7.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously secure the light beige tea-box and the handheld scanner, then move the handheld scanner close to scan the light beige tea-box." + ], + "unseen": [ + "Hold the tea-box with small handle and the black scanner with ergonomic handle in separate arms and use the black scanner with ergonomic handle to scan the tea-box with small handle." + ] +} diff --git a/scan_object/instructions/episode8.json b/scan_object/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..2fadcfcdb4729ca10f5ec599919e93df45c0aeb4 --- /dev/null +++ b/scan_object/instructions/episode8.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Raise both the rectangular yellow tea box and the handheld scanner simultaneously and complete the scan." + ], + "unseen": [ + "Pick the object the tea box with green leaves and scanner the small scanner fits in hand up together, then scan." + ] +} diff --git a/scan_object/instructions/episode9.json b/scan_object/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..e75c1254205a8bd862ffed76a640d4e478aea2aa --- /dev/null +++ b/scan_object/instructions/episode9.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Lift the rectangle tea-box with the right arm as the left arm lifts the compact black scanner for easy grip, then scan the rectangle tea-box." + ], + "unseen": [ + "Lift both the turquoise and black tea-box and the handheld scanner with blue activation trigger at once before scanning the turquoise and black tea-box." + ] +} diff --git a/scan_object/phase_trace/episode0.json b/scan_object/phase_trace/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..a6638ad4a769d20d470522408ae593fc12e58759 --- /dev/null +++ b/scan_object/phase_trace/episode0.json @@ -0,0 +1,1400 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 0, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 164, + "head_unique_frame_ratio": 0.9512195121951219, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.9652978242886725e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 185.5497916666667, + "parallel_head_unique_frame_ratio": 0.9540229885057471, + "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": 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assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? 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[ + "object" + ], + "move_index": 2, + "name": "object_place", + "node_ids": [ + "object_place" + ], + "predecessors": [ + "object_lift" + ], + "resources": [ + "right_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 87, + "start_physics_step": 1167, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 165, + "end_physics_step": 2203, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "left_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 130, + "start_physics_step": 1748, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 12, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? 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a/scan_object/phase_trace/episode13.json b/scan_object/phase_trace/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..6f7490700940f20ef86d7841bb147673a0c4e72f --- /dev/null +++ b/scan_object/phase_trace/episode13.json @@ -0,0 +1,1388 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 13, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 162, + "head_unique_frame_ratio": 0.9567901234567902, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.8491213697210434e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 192.08072916666669, + "parallel_head_unique_frame_ratio": 0.9662921348314607, + "preset": { + "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5", + "fovx_deg": 106.26020470831195, + "fovy_deg": 90.0, + "gripper_to_camera_matrix": [ + [ + 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"node_ids": [ + "object_place" + ], + "predecessors": [ + "object_lift" + ], + "resources": [ + "left_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 89, + "start_physics_step": 1190, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 162, + "end_physics_step": 2136, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "right_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 131, + "start_physics_step": 1747, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 13, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? 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"name": "object_place", + "node_ids": [ + "object_place" + ], + "predecessors": [ + "object_lift" + ], + "resources": [ + "left_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 87, + "start_physics_step": 1154, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 164, + "end_physics_step": 2176, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "right_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 129, + "start_physics_step": 1721, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 30, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? 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"right_arm", + "object" + ], + "semantic_phase": "object_place", + "start_frame": 88, + "start_physics_step": 1184, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 181, + "end_physics_step": 2431, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "left_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 143, + "start_physics_step": 1936, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 31, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml", + "?? 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"object" + ], + "semantic_phase": "object_place", + "start_frame": 88, + "start_physics_step": 1180, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 169, + "end_physics_step": 2247, + "held_objects": [ + "scanner" + ], + "move_index": 3, + "name": "scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "right_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 128, + "start_physics_step": 1715, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 32, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_drawer_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep35_seed87438_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer30_seed87532_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep36_drawer_seed87442_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep46_drawer30_seed87585_20260813.yml", + "?? 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"8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", 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"node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "right_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 129, + "start_physics_step": 1728, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 34, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? 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"scanner_align", + "node_ids": [ + "scanner_align" + ], + "predecessors": [ + "scanner_lift", + "object_place" + ], + "resources": [ + "left_arm", + "scanner" + ], + "semantic_phase": "scanner_align", + "start_frame": 132, + "start_physics_step": 1758, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 36, + "ray_tracing_denoiser": "optix", + "status": "passed" + }, + "robotwin_commit": "74df8dde653c62dbd454ec59909119e5534dfe4a", + "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040", + "robotwin_worktree_status": [ + " M assets/objects/122_metal-spacer-sleeve/asset_spec.json", + " M assets/objects/122_metal-spacer-sleeve/collision/base0.glb", + " M assets/objects/122_metal-spacer-sleeve/model_data0.json", + " M assets/objects/122_metal-spacer-sleeve/points_info.json", + " M envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? 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.tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? task_config/parallelvla_async_grasp_render.yml", + "?? task_config/parallelvla_async_render.yml", + "?? task_config/parallelvla_clean_pcd.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed421_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v1.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed427_preview3_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_random_relative_delay_seed87431_full50_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_finish_v1.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v2.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native.yml", + "?? task_config/parallelvla_clean_pcd_retimed_qwen_v6_native_v2.yml", + "?? task_config/parallelvla_clean_pcd_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_original_verified_v2.yml", + "?? task_config/parallelvla_dependency_aware_overlap_verified_v1.yml", + "?? task_config/parallelvla_eval_pcd.yml", + "?? task_config/parallelvla_linearized_reference_centered_fovy90_verified_v2.yml", + "?? task_config/parallelvla_linearized_reference_original_verified_v2.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_20260723.yml", + "?? task_config/parallelvla_nfov_h60d50_smoke_v2_20260723.yml", + "?? task_config/parallelvla_non_overlapping_reference_verified_v1.yml", + "?? task_config/parallelvla_official_concurrent_verified_v1.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer30_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_drawer_seed87437_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep29_seed87437_20260812.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep31_seed87456_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_seed87492_20260813.yml", + "?? 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envs/_base_task.py", + " M envs/insert_bolt_sleeve.py", + " M envs/utils/pkl2hdf5.py", + " M envs/utils/transforms.py", + " M scripts/generate_m10_flange_bolt_and_sleeve_assets.py", + "?? \"-p 3540590 -o pid,etime,pcpu,pmem,stat,cmd\"", + "?? .tmp_search_head_pivot.py", + "?? .tmp_search_horizontal_regrasp.py", + "?? .tmp_search_vertical_roll.py", + "?? env_cfg/task_config/insert_bolt_sleeve_air_physical_50.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_review_4.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml", + "?? env_cfg/task_config/insert_bolt_sleeve_physical_smoke.yml.orig", + "?? env_cfg/task_config/insert_bolt_sleeve_upper_camera_50.yml", + "?? envs/_base_task.py.orig", + "?? envs/insert_bolt_sleeve.py.orig", + "?? policy/", + "?? scripts/generate_m10_flange_bolt_and_sleeve_assets.py.orig", + "?? task_config/official_aloha_agilex_clean_50.yml", + "?? task_config/official_aloha_agilex_clean_50_retimed_v1.yml", + "?? 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