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the green plastic bottle with ridged bottom simultaneously." + ] +} diff --git a/pick_dual_bottles/.accepted_bundles/episode11/phase_trace/episode11.json b/pick_dual_bottles/.accepted_bundles/episode11/phase_trace/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..41d6f139f26da8975b947be05946598966b12f2c --- /dev/null +++ b/pick_dual_bottles/.accepted_bundles/episode11/phase_trace/episode11.json @@ -0,0 +1,1059 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 11, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 119, + "head_unique_frame_ratio": 0.957983193277311, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 3.969485672106199e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 142.21226128472222, + "parallel_head_unique_frame_ratio": 0.957983193277311, + "preset": { + 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"bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 88, + "start_physics_step": 1172, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 11, + "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", + "?? 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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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"true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 19, + "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\"", + "?? 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"right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 116, + "end_physics_step": 1527, + "held_objects": [ + "bottle_left", + "bottle_right" + ], + "move_index": 2, + "name": "left_place+right_place", + "node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 89, + "start_physics_step": 1201, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 21, + "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", + "?? 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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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1242, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "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", + "?? 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"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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"start_physics_step": 1182, + "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", + "?? 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"true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 37, + "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", + "?? 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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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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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1198, + "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", + "?? 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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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", + "?? 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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", + "?? 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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", + "?? 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"wrist_camera_preset": "centered_fovy90" +} diff --git a/pick_dual_bottles/instructions/episode0.json b/pick_dual_bottles/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..cdf0deedb7df48c185cfb126101130bf892366a5 --- /dev/null +++ b/pick_dual_bottles/instructions/episode0.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp the long thin bottle and the bottle with ridges near base at the same time." + ], + "unseen": [ + "Pick up the brown bottle and the green bottle simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode1.json b/pick_dual_bottles/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..1dde54fb0b06500f338dd4df062532c98f17bb9b --- /dev/null +++ b/pick_dual_bottles/instructions/episode1.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use both arms together to pick the red-capped bottle and the handheld green bottle." + ], + "unseen": [ + "Hold the plastic soda bottle in one arm and the green bottle with white label in the other." + ] +} diff --git a/pick_dual_bottles/instructions/episode10.json b/pick_dual_bottles/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..aaa35766b7fd132fcc5a2f2b27e69da685e51f55 --- /dev/null +++ b/pick_dual_bottles/instructions/episode10.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously grasp and lift the smooth bottle with red lid and the green bottle with indented base." + ], + "unseen": [ + "Use one arm for the brown bottle and the other for the green plastic bottle with ridged bottom." + ] +} diff --git a/pick_dual_bottles/instructions/episode11.json b/pick_dual_bottles/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..13e2097c3c0162aae396c88d2d68b2b186a365f9 --- /dev/null +++ b/pick_dual_bottles/instructions/episode11.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously grasp and lift the medium dark brown bottle and the bottle with white printed label." + ], + "unseen": [ + "Pick up the plastic soda bottle and the green plastic bottle with ridged bottom simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode12.json b/pick_dual_bottles/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..888ab463a3ad00aefb7657fb6e508993c8e7484e --- /dev/null +++ b/pick_dual_bottles/instructions/episode12.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grab both bottles at once: the plastic drink bottle and the medium-sized green bottle." + ], + "unseen": [ + "Grasp both bottles in parallel: the plastic soda bottle and the green plastic bottle with ridged bottom." + ] +} diff --git a/pick_dual_bottles/instructions/episode13.json b/pick_dual_bottles/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..6097f2a5b161d535ffcf9d69e985bc149f4dbef6 --- /dev/null +++ b/pick_dual_bottles/instructions/episode13.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use separate arms to grasp the bottle with white neck and red top and the bottle with white printed label simultaneously." + ], + "unseen": [ + "Grasp both bottles in parallel: the plastic soda bottle and the green bottle with white label." + ] +} diff --git a/pick_dual_bottles/instructions/episode14.json b/pick_dual_bottles/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..2e29cbec7d9434c9fbd2188d251ff7cbaa1bb426 --- /dev/null +++ b/pick_dual_bottles/instructions/episode14.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use both arms together to pick the hand-sized soda bottle and the smooth green plastic bottle." + ], + "unseen": [ + "Use one arm for the plastic soda bottle and the other for the green plastic bottle with ridged bottom." + ] +} diff --git a/pick_dual_bottles/instructions/episode15.json b/pick_dual_bottles/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..3f84ac7bb9a70a79946c17267733b277c13f0f05 --- /dev/null +++ b/pick_dual_bottles/instructions/episode15.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously grasp and lift the plastic drink bottle and the bottle with rounded neck." + ], + "unseen": [ + "Hold the plastic soda bottle in one arm and the green plastic bottle with ridged bottom in the other." + ] +} diff --git a/pick_dual_bottles/instructions/episode16.json b/pick_dual_bottles/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..aba93e1f5bbb5c22b46d5196d1d8f9da489b59fa --- /dev/null +++ b/pick_dual_bottles/instructions/episode16.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up both the dark drink bottle with logo and the bottle with rounded neck using separate arms." + ], + "unseen": [ + "Pick both the bottle with red screw cap and the green plastic bottle with ridged bottom up in parallel." + ] +} diff --git a/pick_dual_bottles/instructions/episode17.json b/pick_dual_bottles/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..38b241b4dc6b5dc98116fe523e786cc47fc1cab5 --- /dev/null +++ b/pick_dual_bottles/instructions/episode17.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously grasp and lift the Coca-Cola bottle and the green bottle with indented base." + ], + "unseen": [ + "Grab the bottle with red screw cap and the green bottle with white label together with both arms." + ] +} diff --git a/pick_dual_bottles/instructions/episode18.json b/pick_dual_bottles/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..ea66e0d4a2b66ae744bcdc4fea28a7b7f6987cae --- /dev/null +++ b/pick_dual_bottles/instructions/episode18.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Reach for the bottle with ridges on bottom and the smooth green bottle with both arms simultaneously." + ], + "unseen": [ + "Grasp both bottles in parallel: the bottle with red screw cap and the green bottle with white label." + ] +} diff --git a/pick_dual_bottles/instructions/episode19.json b/pick_dual_bottles/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..77e9c6202121e2098140ba0ab6b9cce8bfecb3dc --- /dev/null +++ b/pick_dual_bottles/instructions/episode19.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use each arm to secure one bottle, the long thin bottle and the plastic bottle." + ], + "unseen": [ + "Grab the bottle with red screw cap and the green bottle with white label together with both arms." + ] +} diff --git a/pick_dual_bottles/instructions/episode2.json b/pick_dual_bottles/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..805da54e0494975585985447ec4f829583ee4e74 --- /dev/null +++ b/pick_dual_bottles/instructions/episode2.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp the long thin bottle and the smooth green bottle at the same time." + ], + "unseen": [ + "Use one arm for the plastic soda bottle and the other for the green bottle." + ] +} diff --git a/pick_dual_bottles/instructions/episode20.json b/pick_dual_bottles/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..6f0cb0f49e56ea6179c40b8953470d3339180c71 --- /dev/null +++ b/pick_dual_bottles/instructions/episode20.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use each arm to secure one bottle, the Coca-Cola bottle and the medium-sized green bottle." + ], + "unseen": [ + "Use one arm for the plastic soda bottle and the other for the green plastic bottle with ridged bottom." + ] +} diff --git a/pick_dual_bottles/instructions/episode21.json b/pick_dual_bottles/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..c71c1846e4fb93e3aaab3ebf1ebe02312fbd6093 --- /dev/null +++ b/pick_dual_bottles/instructions/episode21.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use one arm for the medium dark brown bottle and the other for the smooth green plastic bottle." + ], + "unseen": [ + "Take hold of the bottle with red screw cap and the green bottle at once." + ] +} diff --git a/pick_dual_bottles/instructions/episode22.json b/pick_dual_bottles/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..22b8f514165359886eba2e530562604a66837178 --- /dev/null +++ b/pick_dual_bottles/instructions/episode22.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up the narrow-necked bottle and the smooth green bottle in one synchronized motion." + ], + "unseen": [ + "Pick both the plastic soda bottle and the green bottle with white label up in parallel." + ] +} diff --git a/pick_dual_bottles/instructions/episode23.json b/pick_dual_bottles/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..ef2dfa96cdda66573fc9c47dfe9ae8a25d27e60d --- /dev/null +++ b/pick_dual_bottles/instructions/episode23.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Reach for the bottle with white neck and red top and the bottle with rounded neck with both arms simultaneously." + ], + "unseen": [ + "Use separate arms to pick the brown bottle and the green plastic bottle with ridged bottom simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode24.json b/pick_dual_bottles/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..8fe4f8f146249de71888528ede15390701c50e7e --- /dev/null +++ b/pick_dual_bottles/instructions/episode24.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Reach for the dark drink bottle with logo and the smooth green bottle with both arms simultaneously." + ], + "unseen": [ + "Use separate arms to pick the bottle with red screw cap and the green bottle simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode25.json b/pick_dual_bottles/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..0fed33add3d3a55f0f02ea1e3a37d61342310a2a --- /dev/null +++ b/pick_dual_bottles/instructions/episode25.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Take the red-capped bottle and the green bottle with indented base together, one per arm." + ], + "unseen": [ + "Lift the brown bottle and the green bottle with white label at the same time." + ] +} diff --git a/pick_dual_bottles/instructions/episode26.json b/pick_dual_bottles/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..fd46a1991b253bb0646507ce6b0ebd8d978dd425 --- /dev/null +++ b/pick_dual_bottles/instructions/episode26.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Take the bottle with white neck and red top and the bottle with ridges near base together, one per arm." + ], + "unseen": [ + "Pick up the brown bottle and the green bottle simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode27.json b/pick_dual_bottles/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..af08f4b77924a018a4196fee2bfc0810db1178b0 --- /dev/null +++ b/pick_dual_bottles/instructions/episode27.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Lift the two bottles the Coca-Cola bottle and the handheld green bottle together." + ], + "unseen": [ + "Use separate arms to pick the plastic soda bottle and the green bottle with white label simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode28.json b/pick_dual_bottles/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..8541175122b26a27a18705acf0803d21444a9660 --- /dev/null +++ b/pick_dual_bottles/instructions/episode28.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Reach for the Coca-Cola bottle and the bottle with narrow top with both arms simultaneously." + ], + "unseen": [ + "Grasp both bottles in parallel: the brown bottle and the green plastic bottle with ridged bottom." + ] +} diff --git a/pick_dual_bottles/instructions/episode29.json b/pick_dual_bottles/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..b720eace4071034e3f4abe34fa8066f3f7b81bc7 --- /dev/null +++ b/pick_dual_bottles/instructions/episode29.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use one arm for the bottle with ridges on bottom and the other for the handheld green bottle." + ], + "unseen": [ + "Hold the bottle with red screw cap in one arm and the green plastic bottle with ridged bottom in the other." + ] +} diff --git a/pick_dual_bottles/instructions/episode3.json b/pick_dual_bottles/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..1c5600d82aa93c7598806bc407d47ee775b4c993 --- /dev/null +++ b/pick_dual_bottles/instructions/episode3.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grab both bottles at once: the bottle with white neck and red top and the medium-sized green bottle." + ], + "unseen": [ + "Grasp both bottles in parallel: the plastic soda bottle and the green plastic bottle with ridged bottom." + ] +} diff --git a/pick_dual_bottles/instructions/episode30.json b/pick_dual_bottles/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..a2da72d87e2764d7df32bdab4ea6880953396b10 --- /dev/null +++ b/pick_dual_bottles/instructions/episode30.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Lift the two bottles the bottle with white neck and red top and the smooth green bottle together." + ], + "unseen": [ + "Raise the brown bottle and the green bottle with white label together." + ] +} diff --git a/pick_dual_bottles/instructions/episode31.json b/pick_dual_bottles/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..bd430ad790f02058614ec1ae62fe9a9a53b279c3 --- /dev/null +++ b/pick_dual_bottles/instructions/episode31.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously grasp and lift the plastic drink bottle and the bottle with rounded neck." + ], + "unseen": [ + "Take hold of the brown bottle and the green bottle at once." + ] +} diff --git a/pick_dual_bottles/instructions/episode32.json b/pick_dual_bottles/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..f56183fe8a7f3e09c9f4709c446deb8b6c402560 --- /dev/null +++ b/pick_dual_bottles/instructions/episode32.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick up the medium dark brown bottle and the medium green bottle in one synchronized motion." + ], + "unseen": [ + "Raise the brown bottle and the green plastic bottle with ridged bottom together." + ] +} diff --git a/pick_dual_bottles/instructions/episode33.json b/pick_dual_bottles/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..27a28b43a8a5c2b96350586a7d7bb3fa195b1cd3 --- /dev/null +++ b/pick_dual_bottles/instructions/episode33.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Each arm should lift one bottle: the hand-sized soda bottle and the medium green bottle with capped neck." + ], + "unseen": [ + "Lift the plastic soda bottle and the green bottle at the same time." + ] +} diff --git a/pick_dual_bottles/instructions/episode34.json b/pick_dual_bottles/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..3e6e396b9a075fb3dcab4ad7087875a9e6633646 --- /dev/null +++ b/pick_dual_bottles/instructions/episode34.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grab the hand-sized soda bottle and the bottle with ridges near base together." + ], + "unseen": [ + "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once." + ] +} diff --git a/pick_dual_bottles/instructions/episode35.json b/pick_dual_bottles/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..a09bf6299db56e56477004946273223a50378f1d --- /dev/null +++ b/pick_dual_bottles/instructions/episode35.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Catch the plastic drink bottle and the medium green bottle with capped neck in parallel." + ], + "unseen": [ + "Hold the brown bottle in one arm and the green bottle in the other." + ] +} diff --git a/pick_dual_bottles/instructions/episode36.json b/pick_dual_bottles/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..ce06ae70ec6deae55f4d23a4c4bed2fa85bc53f2 --- /dev/null +++ b/pick_dual_bottles/instructions/episode36.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use both arms to lift the dark drink bottle with logo and the smooth green bottle together." + ], + "unseen": [ + "Pick both the brown bottle and the green bottle with white label up in parallel." + ] +} diff --git a/pick_dual_bottles/instructions/episode37.json b/pick_dual_bottles/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..58a3e2972224bce0d4efa18e1102936d691e0c5d --- /dev/null +++ b/pick_dual_bottles/instructions/episode37.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Simultaneously grasp and lift the plastic drink bottle and the smooth green plastic bottle." + ], + "unseen": [ + "Use one arm for the plastic soda bottle and the other for the green plastic bottle with ridged bottom." + ] +} diff --git a/pick_dual_bottles/instructions/episode38.json b/pick_dual_bottles/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..433b518d6096143f834b2e6d4f321f7e6e81b0fb --- /dev/null +++ b/pick_dual_bottles/instructions/episode38.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the smooth bottle with red lid as the other arm picks the plastic bottle." + ], + "unseen": [ + "Grab the brown bottle and the green bottle together with both arms." + ] +} diff --git a/pick_dual_bottles/instructions/episode39.json b/pick_dual_bottles/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..5be4801b6f8dd10e72bec43bf5f89810a1e37d2b --- /dev/null +++ b/pick_dual_bottles/instructions/episode39.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the red-capped bottle and the medium green bottle up in parallel." + ], + "unseen": [ + "Raise the bottle with red screw cap and the green plastic bottle with ridged bottom together." + ] +} diff --git a/pick_dual_bottles/instructions/episode4.json b/pick_dual_bottles/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..07a3f0de33272359285862f282eb743ef2649d9d --- /dev/null +++ b/pick_dual_bottles/instructions/episode4.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use one arm for the long thin bottle and the other for the handheld green bottle." + ], + "unseen": [ + "Grasp both bottles in parallel: the brown bottle and the green bottle." + ] +} diff --git a/pick_dual_bottles/instructions/episode40.json b/pick_dual_bottles/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..1cd20387e12f106b6cf35f4ec70104e3c37b685d --- /dev/null +++ b/pick_dual_bottles/instructions/episode40.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Take hold of the hand-sized soda bottle and the bottle with narrow top at once." + ], + "unseen": [ + "Pick both the brown bottle and the green bottle up in parallel." + ] +} diff --git a/pick_dual_bottles/instructions/episode41.json b/pick_dual_bottles/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..c7e6f30c496923c9b55a58e22be0406a761295ca --- /dev/null +++ b/pick_dual_bottles/instructions/episode41.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp the plastic drink bottle and the medium-sized green bottle at the same time." + ], + "unseen": [ + "Use separate arms to pick the brown bottle and the green bottle with white label simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode42.json b/pick_dual_bottles/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..43aa8089cb9e33497d54899cae81cf3115eb6f68 --- /dev/null +++ b/pick_dual_bottles/instructions/episode42.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Reach for the red-capped bottle and the bottle with white printed label with both arms simultaneously." + ], + "unseen": [ + "Pick up the brown bottle and the green bottle simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode43.json b/pick_dual_bottles/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..9a4329f1e178859476f349256e58880c9e4bc1c8 --- /dev/null +++ b/pick_dual_bottles/instructions/episode43.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use each arm to secure one bottle, the hand-sized soda bottle and the bottle with ridges near base." + ], + "unseen": [ + "Take hold of the plastic soda bottle and the green plastic bottle with ridged bottom at once." + ] +} diff --git a/pick_dual_bottles/instructions/episode44.json b/pick_dual_bottles/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..2f6879d4ac724f6e73aa1b1ddfae32b842be819b --- /dev/null +++ b/pick_dual_bottles/instructions/episode44.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grab both bottles at once: the bottle with white neck and red top and the green bottle with indented base." + ], + "unseen": [ + "Hold the plastic soda bottle in one arm and the green bottle with white label in the other." + ] +} diff --git a/pick_dual_bottles/instructions/episode45.json b/pick_dual_bottles/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..c808704b7202cf86bfc5608cbfb84a4b7a6afd4d --- /dev/null +++ b/pick_dual_bottles/instructions/episode45.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp the bottle with ridges on bottom and the green bottle with indented base at the same time." + ], + "unseen": [ + "Take hold of the bottle with red screw cap and the green plastic bottle with ridged bottom at once." + ] +} diff --git a/pick_dual_bottles/instructions/episode46.json b/pick_dual_bottles/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..37e17ce942dc5be8f9776ca55d14e33ad816461d --- /dev/null +++ b/pick_dual_bottles/instructions/episode46.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Grasp the hand-sized soda bottle and the smooth green plastic bottle at the same time." + ], + "unseen": [ + "Take hold of the brown bottle and the green bottle with white label at once." + ] +} diff --git a/pick_dual_bottles/instructions/episode47.json b/pick_dual_bottles/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..2f4059aae06cb9143c226aec9b7534c1e9bdf5a6 --- /dev/null +++ b/pick_dual_bottles/instructions/episode47.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the brown bottle with red label and the bottle with rounded neck up in parallel." + ], + "unseen": [ + "Grab the brown bottle and the green bottle together with both arms." + ] +} diff --git a/pick_dual_bottles/instructions/episode48.json b/pick_dual_bottles/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..fe7721e57302d2668f41168040ed995fce5a82ec --- /dev/null +++ b/pick_dual_bottles/instructions/episode48.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Use separate arms to grasp the long thin bottle and the medium green bottle with capped neck simultaneously." + ], + "unseen": [ + "Pick up the brown bottle and the green bottle simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode49.json b/pick_dual_bottles/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..3eba5c0b90d26e274af9c8d87b8262f3c260c0c4 --- /dev/null +++ b/pick_dual_bottles/instructions/episode49.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Hold the red-capped bottle in one arm and the medium-sized green bottle in the other." + ], + "unseen": [ + "Pick both the bottle with red screw cap and the green bottle up in parallel." + ] +} diff --git a/pick_dual_bottles/instructions/episode5.json b/pick_dual_bottles/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..8d78528c412c93c3f0ff7b122a98b315b34381e0 --- /dev/null +++ b/pick_dual_bottles/instructions/episode5.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Raise the plastic drink bottle and the medium green bottle with capped neck at the same time." + ], + "unseen": [ + "Use separate arms to pick the bottle with red screw cap and the green bottle with white label simultaneously." + ] +} diff --git a/pick_dual_bottles/instructions/episode6.json b/pick_dual_bottles/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..2e33ad7aafeffe46bba68343e4c3a63dedb56609 --- /dev/null +++ b/pick_dual_bottles/instructions/episode6.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Take the red-capped bottle and the bottle with ridges near base together, one per arm." + ], + "unseen": [ + "Grasp both bottles in parallel: the brown bottle and the green plastic bottle with ridged bottom." + ] +} diff --git a/pick_dual_bottles/instructions/episode7.json b/pick_dual_bottles/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..fa190c7a8b9d60e3e30fac19ef9f51ee535ae801 --- /dev/null +++ b/pick_dual_bottles/instructions/episode7.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Take the Coca-Cola bottle and the bottle with white printed label together, one per arm." + ], + "unseen": [ + "Use one arm for the brown bottle and the other for the green bottle with white label." + ] +} diff --git a/pick_dual_bottles/instructions/episode8.json b/pick_dual_bottles/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..db370c4176c2313ff60e5681675cb3b904166481 --- /dev/null +++ b/pick_dual_bottles/instructions/episode8.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the smooth bottle with red lid as the other arm picks the medium green bottle." + ], + "unseen": [ + "Grab the bottle with red screw cap and the green bottle with white label together with both arms." + ] +} diff --git a/pick_dual_bottles/instructions/episode9.json b/pick_dual_bottles/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..294bf5bb005885ab6f2c37107f466a37afca2cb4 --- /dev/null +++ b/pick_dual_bottles/instructions/episode9.json @@ -0,0 +1,9 @@ +{ + "episode_index": 0, + "seen": [ + "Pick the plastic drink bottle and the smooth green bottle up in parallel." + ], + "unseen": [ + "Take hold of the brown bottle and the green bottle with white label at once." + ] +} diff --git a/pick_dual_bottles/phase_trace/episode0.json b/pick_dual_bottles/phase_trace/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..d22773277e9da4963e64a25c69f33ec8aabd202c --- /dev/null +++ b/pick_dual_bottles/phase_trace/episode0.json @@ -0,0 +1,1125 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 0, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 126, + "head_unique_frame_ratio": 0.9523809523809523, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.48632810207128e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 145.31946831597222, + "parallel_head_unique_frame_ratio": 0.9523809523809523, + "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 + ], + [ + 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"true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left", + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 123, + "end_physics_step": 1619, + "held_objects": [ + "bottle_left", + "bottle_right" + ], + "move_index": 2, + "name": "left_place+right_place", + "node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 91, + "start_physics_step": 1218, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 1, + "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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"bottle_right" + ], + "move_index": 1, + "name": "left_lift+right_lift", + "node_ids": [ + "left_lift", + "right_lift" + ], + "predecessors": [ + "left_grasp", + "right_grasp" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "lift", + "start_frame": 74, + "start_physics_step": 1013, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left", + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 118, + "end_physics_step": 1565, + "held_objects": [ + "bottle_left", + "bottle_right" + ], + "move_index": 2, + "name": "left_place+right_place", + "node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 88, + "start_physics_step": 1188, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 14, + "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", + "?? 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[ + "left", + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 119, + "end_physics_step": 1580, + "held_objects": [ + "bottle_left", + "bottle_right" + ], + "move_index": 2, + "name": "left_place+right_place", + "node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 89, + "start_physics_step": 1208, + "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", + "?? 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"right_lift" + ], + "predecessors": [ + "left_grasp", + "right_grasp" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "lift", + "start_frame": 73, + "start_physics_step": 1002, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left", + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 116, + "end_physics_step": 1527, + "held_objects": [ + "bottle_left", + "bottle_right" + ], + "move_index": 2, + "name": "left_place+right_place", + "node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 89, + "start_physics_step": 1201, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 21, + "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", + "?? 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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", + "?? 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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"bottle_left", + "bottle_right" + ], + "semantic_phase": "lift", + "start_frame": 78, + "start_physics_step": 1071, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left", + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 126, + "end_physics_step": 1688, + "held_objects": [ + "bottle_left", + "bottle_right" + ], + "move_index": 2, + "name": "left_place+right_place", + "node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 92, + "start_physics_step": 1248, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 29, + "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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"avoidable_idle_seconds": 0.0, + "end_frame": 136, + "end_physics_step": 1818, + "held_objects": [ + "bottle_left", + "bottle_right" + ], + "move_index": 2, + "name": "left_place+right_place", + "node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 94, + "start_physics_step": 1260, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 33, + "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", + "?? 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+ "training_actions_executed": 108, + "validate_synchronized_training_replay": true, + "wrist_camera_preset": "centered_fovy90" +} diff --git a/pick_dual_bottles/phase_trace/episode36.json b/pick_dual_bottles/phase_trace/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..a23a2b1fcb19b22d8f5f2c3ca49a72b764f84ad1 --- /dev/null +++ b/pick_dual_bottles/phase_trace/episode36.json @@ -0,0 +1,1101 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 36, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 124, + "head_unique_frame_ratio": 0.9596774193548387, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.439667071476361e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 148.22991319444444, + "parallel_head_unique_frame_ratio": 0.9596774193548387, + "preset": { + "calibration_manifest_sha256": 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"bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 91, + "start_physics_step": 1228, + "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", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_drawer_seed87492_20260813.yml", + "?? task_config/parallelvla_putcab_delay_replacement_ep32_object_seed87510_20260813.yml", + "?? 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"node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 89, + "start_physics_step": 1200, + "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", + "?? 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a/pick_dual_bottles/phase_trace/episode43.json b/pick_dual_bottles/phase_trace/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..acb9b0c7598339075e7b079a7033b0b9aed18d23 --- /dev/null +++ b/pick_dual_bottles/phase_trace/episode43.json @@ -0,0 +1,1095 @@ +{ + "base_config": "parallelvla_clean_pcd", + "camera_validation": { + "episode": 43, + "fovy_deg": { + "left": 90.0, + "right": 90.0 + }, + "frames": 121, + "head_unique_frame_ratio": 0.9586776859504132, + "main_camera_policy": "native_dynamic", + "maximum_mount_distance_error_m": 4.1382228227471174e-08, + "maximum_wrist_consecutive_dark_frames": 0, + "maximum_wrist_dark_frame_fraction": 0.0, + "minimum_wrist_median_luminance": 149.93571614583334, + "parallel_head_unique_frame_ratio": 0.9586776859504132, + "preset": { + "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5", + "fovx_deg": 106.26020470831195, + "fovy_deg": 90.0, + "gripper_to_camera_matrix": [ 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], + "move_index": 1, + "name": "left_lift+right_lift", + "node_ids": [ + "left_lift", + "right_lift" + ], + "predecessors": [ + "left_grasp", + "right_grasp" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "lift", + "start_frame": 75, + "start_physics_step": 1022, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + }, + { + "active_arms": [ + "left", + "right" + ], + "avoidable_idle_seconds": 0.0, + "end_frame": 121, + "end_physics_step": 1607, + "held_objects": [ + "bottle_left", + "bottle_right" + ], + "move_index": 2, + "name": "left_place+right_place", + "node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 91, + "start_physics_step": 1228, + "true_dependency_wait_arms": [], + "true_dependency_wait_seconds": 0.0 + } + ], + "parallelvla_commit": "1e5e612947040fc88ef308e93098a8fbadc7663a", + "renderer_validation": { + "camera_shader": "rt", + "episode": 43, + "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", + "?? 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"left_place+right_place", + "node_ids": [ + "left_place", + "right_place" + ], + "predecessors": [ + "left_lift", + "right_lift" + ], + "resources": [ + "left_arm", + "right_arm", + "bottle_left", + "bottle_right" + ], + "semantic_phase": "place", + "start_frame": 93, + "start_physics_step": 1253, + "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", + "?? 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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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