{
  "artifacts_complete": true,
  "camera_validation": {
    "episode": 3,
    "fovy_deg": {
      "left": 90.0,
      "right": 90.0
    },
    "frames": 161,
    "head_unique_frame_ratio": 0.9565217391304348,
    "main_camera_policy": "native_dynamic",
    "maximum_mount_distance_error_m": 4.5180279531487066e-08,
    "maximum_wrist_consecutive_dark_frames": 0,
    "maximum_wrist_dark_frame_fraction": 0.0,
    "minimum_wrist_median_luminance": 196.55395833333333,
    "parallel_head_unique_frame_ratio": 0.9651162790697675,
    "preset": {
      "calibration_manifest_sha256": "bd7a9d918a775f3d59b70ca04d1a9f4151c9602557487947e2ee49d8a461b0e5",
      "fovx_deg": 106.26020470831195,
      "fovy_deg": 90.0,
      "gripper_to_camera_matrix": [
        [
          0.9886695961968883,
          -1.5244567471983168e-06,
          0.15010833103640953,
          0.06999997201749193
        ],
        [
          1.567728436833223e-06,
          1.0000000058018184,
          6.430025196775677e-08,
          2.011452240730468e-09
        ],
        [
          -0.15010829523993077,
          1.6325174712825714e-07,
          0.988669555703279,
          0.06500000893891618
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "height": 240,
      "name": "centered_fovy90",
      "overrides_robotwin_default": true,
      "width": 320
    },
    "status": "passed",
    "wrist_consecutive_dark_frames": {
      "left": 0,
      "right": 0
    },
    "wrist_dark_frame_fraction": {
      "left": 0.0,
      "right": 0.0
    },
    "wrist_median_luminance": {
      "left": 196.55395833333333,
      "right": 199.60958767361112
    }
  },
  "collision_safe": true,
  "collision_summary": {
    "contact_step_indices": [],
    "first_risk_step": 384,
    "interarm_contact_steps": 0,
    "minimum_capsule_distance_m": 0.0511319456831209,
    "moves": {
      "object_place": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.09115749850445248
      },
      "scanner_align": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.17065366856137607
      },
      "scanner_grasp+object_grasp": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.0511319456831209
      },
      "scanner_lift+object_lift": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.05824579810302093
      }
    },
    "physics_steps_checked": 2143
  },
  "episode": 3,
  "frames": 161,
  "plan_success": true,
  "renderer_validation": {
    "camera_shader": "rt",
    "episode": 3,
    "ray_tracing_denoiser": "optix",
    "status": "passed"
  },
  "replay_success": true,
  "seed": 7,
  "source_commits": {
    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
  },
  "task_specific_final_state": {
    "grippers": [
      0.0,
      0.0
    ],
    "object_position": [
      -0.02922794036567211,
      -0.020743295550346375,
      0.9503625631332397
    ],
    "scanner_functional_point": [
      0.01896100253950692,
      -0.01338747673178773,
      0.9571764921621166,
      0.2884562350689455,
      0.6456958717078429,
      -0.2884484247070307,
      -0.6454977521210514
    ]
  },
  "task_success": true,
  "timing_summary": {
    "active_left_frames": 106,
    "active_right_frames": 101,
    "active_union_frames": 137,
    "avoidable_idle_seconds": 2.172,
    "frames": 161,
    "overlap_frames": 70,
    "overlap_ratio_active": 0.5109489051094891,
    "overlap_ratio_all": 0.43478260869565216,
    "overlap_seconds": 2.3333333333333335,
    "seconds": 5.366666666666666,
    "true_dependency_wait_seconds": 0.0
  },
  "training_action_collision_safe": true,
  "training_action_count": 160,
  "training_action_execution_intervals": [
    {
      "action_index": 0,
      "end_physics_step": 50,
      "physics_steps": 50,
      "start_physics_step": 0
    },
    {
      "action_index": 1,
      "end_physics_step": 59,
      "physics_steps": 9,
      "start_physics_step": 50
    },
    {
      "action_index": 2,
      "end_physics_step": 110,
      "physics_steps": 51,
      "start_physics_step": 59
    },
    {
      "action_index": 3,
      "end_physics_step": 182,
      "physics_steps": 72,
      "start_physics_step": 110
    },
    {
      "action_index": 4,
      "end_physics_step": 271,
      "physics_steps": 89,
      "start_physics_step": 182
    },
    {
      "action_index": 5,
      "end_physics_step": 374,
      "physics_steps": 103,
      "start_physics_step": 271
    },
    {
      "action_index": 6,
      "end_physics_step": 489,
      "physics_steps": 115,
      "start_physics_step": 374
    },
    {
      "action_index": 7,
      "end_physics_step": 614,
      "physics_steps": 125,
      "start_physics_step": 489
    },
    {
      "action_index": 8,
      "end_physics_step": 747,
      "physics_steps": 133,
      "start_physics_step": 614
    },
    {
      "action_index": 9,
      "end_physics_step": 887,
      "physics_steps": 140,
      "start_physics_step": 747
    },
    {
      "action_index": 10,
      "end_physics_step": 1033,
      "physics_steps": 146,
      "start_physics_step": 887
    },
    {
      "action_index": 11,
      "end_physics_step": 1183,
      "physics_steps": 150,
      "start_physics_step": 1033
    },
    {
      "action_index": 12,
      "end_physics_step": 1337,
      "physics_steps": 154,
      "start_physics_step": 1183
    },
    {
      "action_index": 13,
      "end_physics_step": 1493,
      "physics_steps": 156,
      "start_physics_step": 1337
    },
    {
      "action_index": 14,
      "end_physics_step": 1650,
      "physics_steps": 157,
      "start_physics_step": 1493
    },
    {
      "action_index": 15,
      "end_physics_step": 1808,
      "physics_steps": 158,
      "start_physics_step": 1650
    },
    {
      "action_index": 16,
      "end_physics_step": 1965,
      "physics_steps": 157,
      "start_physics_step": 1808
    },
    {
      "action_index": 17,
      "end_physics_step": 2121,
      "physics_steps": 156,
      "start_physics_step": 1965
    },
    {
      "action_index": 18,
      "end_physics_step": 2274,
      "physics_steps": 153,
      "start_physics_step": 2121
    },
    {
      "action_index": 19,
      "end_physics_step": 2424,
      "physics_steps": 150,
      "start_physics_step": 2274
    },
    {
      "action_index": 20,
      "end_physics_step": 2569,
      "physics_steps": 145,
      "start_physics_step": 2424
    },
    {
      "action_index": 21,
      "end_physics_step": 2709,
      "physics_steps": 140,
      "start_physics_step": 2569
    },
    {
      "action_index": 22,
      "end_physics_step": 2841,
      "physics_steps": 132,
      "start_physics_step": 2709
    },
    {
      "action_index": 23,
      "end_physics_step": 2965,
      "physics_steps": 124,
      "start_physics_step": 2841
    },
    {
      "action_index": 24,
      "end_physics_step": 3078,
      "physics_steps": 113,
      "start_physics_step": 2965
    },
    {
      "action_index": 25,
      "end_physics_step": 3179,
      "physics_steps": 101,
      "start_physics_step": 3078
    },
    {
      "action_index": 26,
      "end_physics_step": 3265,
      "physics_steps": 86,
      "start_physics_step": 3179
    },
    {
      "action_index": 27,
      "end_physics_step": 3334,
      "physics_steps": 69,
      "start_physics_step": 3265
    },
    {
      "action_index": 28,
      "end_physics_step": 3379,
      "physics_steps": 45,
      "start_physics_step": 3334
    },
    {
      "action_index": 29,
      "end_physics_step": 3429,
      "physics_steps": 50,
      "start_physics_step": 3379
    },
    {
      "action_index": 30,
      "end_physics_step": 3479,
      "physics_steps": 50,
      "start_physics_step": 3429
    },
    {
      "action_index": 31,
      "end_physics_step": 3529,
      "physics_steps": 50,
      "start_physics_step": 3479
    },
    {
      "action_index": 32,
      "end_physics_step": 3563,
      "physics_steps": 34,
      "start_physics_step": 3529
    },
    {
      "action_index": 33,
      "end_physics_step": 3591,
      "physics_steps": 28,
      "start_physics_step": 3563
    },
    {
      "action_index": 34,
      "end_physics_step": 3648,
      "physics_steps": 57,
      "start_physics_step": 3591
    },
    {
      "action_index": 35,
      "end_physics_step": 3723,
      "physics_steps": 75,
      "start_physics_step": 3648
    },
    {
      "action_index": 36,
      "end_physics_step": 3811,
      "physics_steps": 88,
      "start_physics_step": 3723
    },
    {
      "action_index": 37,
      "end_physics_step": 3913,
      "physics_steps": 102,
      "start_physics_step": 3811
    },
    {
      "action_index": 38,
      "end_physics_step": 4021,
      "physics_steps": 108,
      "start_physics_step": 3913
    },
    {
      "action_index": 39,
      "end_physics_step": 4125,
      "physics_steps": 104,
      "start_physics_step": 4021
    },
    {
      "action_index": 40,
      "end_physics_step": 4226,
      "physics_steps": 101,
      "start_physics_step": 4125
    },
    {
      "action_index": 41,
      "end_physics_step": 4315,
      "physics_steps": 89,
      "start_physics_step": 4226
    },
    {
      "action_index": 42,
      "end_physics_step": 4388,
      "physics_steps": 73,
      "start_physics_step": 4315
    },
    {
      "action_index": 43,
      "end_physics_step": 4440,
      "physics_steps": 52,
      "start_physics_step": 4388
    },
    {
      "action_index": 44,
      "end_physics_step": 4458,
      "physics_steps": 18,
      "start_physics_step": 4440
    },
    {
      "action_index": 45,
      "end_physics_step": 4508,
      "physics_steps": 50,
      "start_physics_step": 4458
    },
    {
      "action_index": 46,
      "end_physics_step": 4558,
      "physics_steps": 50,
      "start_physics_step": 4508
    },
    {
      "action_index": 47,
      "end_physics_step": 4608,
      "physics_steps": 50,
      "start_physics_step": 4558
    },
    {
      "action_index": 48,
      "end_physics_step": 4658,
      "physics_steps": 50,
      "start_physics_step": 4608
    },
    {
      "action_index": 49,
      "end_physics_step": 4708,
      "physics_steps": 50,
      "start_physics_step": 4658
    },
    {
      "action_index": 50,
      "end_physics_step": 4758,
      "physics_steps": 50,
      "start_physics_step": 4708
    },
    {
      "action_index": 51,
      "end_physics_step": 4808,
      "physics_steps": 50,
      "start_physics_step": 4758
    },
    {
      "action_index": 52,
      "end_physics_step": 4858,
      "physics_steps": 50,
      "start_physics_step": 4808
    },
    {
      "action_index": 53,
      "end_physics_step": 4908,
      "physics_steps": 50,
      "start_physics_step": 4858
    },
    {
      "action_index": 54,
      "end_physics_step": 4958,
      "physics_steps": 50,
      "start_physics_step": 4908
    },
    {
      "action_index": 55,
      "end_physics_step": 5008,
      "physics_steps": 50,
      "start_physics_step": 4958
    },
    {
      "action_index": 56,
      "end_physics_step": 5058,
      "physics_steps": 50,
      "start_physics_step": 5008
    },
    {
      "action_index": 57,
      "end_physics_step": 5108,
      "physics_steps": 50,
      "start_physics_step": 5058
    },
    {
      "action_index": 58,
      "end_physics_step": 5158,
      "physics_steps": 50,
      "start_physics_step": 5108
    },
    {
      "action_index": 59,
      "end_physics_step": 5208,
      "physics_steps": 50,
      "start_physics_step": 5158
    },
    {
      "action_index": 60,
      "end_physics_step": 5258,
      "physics_steps": 50,
      "start_physics_step": 5208
    },
    {
      "action_index": 61,
      "end_physics_step": 5308,
      "physics_steps": 50,
      "start_physics_step": 5258
    },
    {
      "action_index": 62,
      "end_physics_step": 5358,
      "physics_steps": 50,
      "start_physics_step": 5308
    },
    {
      "action_index": 63,
      "end_physics_step": 5408,
      "physics_steps": 50,
      "start_physics_step": 5358
    },
    {
      "action_index": 64,
      "end_physics_step": 5458,
      "physics_steps": 50,
      "start_physics_step": 5408
    },
    {
      "action_index": 65,
      "end_physics_step": 5508,
      "physics_steps": 50,
      "start_physics_step": 5458
    },
    {
      "action_index": 66,
      "end_physics_step": 5558,
      "physics_steps": 50,
      "start_physics_step": 5508
    },
    {
      "action_index": 67,
      "end_physics_step": 5608,
      "physics_steps": 50,
      "start_physics_step": 5558
    },
    {
      "action_index": 68,
      "end_physics_step": 5658,
      "physics_steps": 50,
      "start_physics_step": 5608
    },
    {
      "action_index": 69,
      "end_physics_step": 5677,
      "physics_steps": 19,
      "start_physics_step": 5658
    },
    {
      "action_index": 70,
      "end_physics_step": 5703,
      "physics_steps": 26,
      "start_physics_step": 5677
    },
    {
      "action_index": 71,
      "end_physics_step": 5760,
      "physics_steps": 57,
      "start_physics_step": 5703
    },
    {
      "action_index": 72,
      "end_physics_step": 5837,
      "physics_steps": 77,
      "start_physics_step": 5760
    },
    {
      "action_index": 73,
      "end_physics_step": 5929,
      "physics_steps": 92,
      "start_physics_step": 5837
    },
    {
      "action_index": 74,
      "end_physics_step": 6033,
      "physics_steps": 104,
      "start_physics_step": 5929
    },
    {
      "action_index": 75,
      "end_physics_step": 6149,
      "physics_steps": 116,
      "start_physics_step": 6033
    },
    {
      "action_index": 76,
      "end_physics_step": 6271,
      "physics_steps": 122,
      "start_physics_step": 6149
    },
    {
      "action_index": 77,
      "end_physics_step": 6394,
      "physics_steps": 123,
      "start_physics_step": 6271
    },
    {
      "action_index": 78,
      "end_physics_step": 6514,
      "physics_steps": 120,
      "start_physics_step": 6394
    },
    {
      "action_index": 79,
      "end_physics_step": 6625,
      "physics_steps": 111,
      "start_physics_step": 6514
    },
    {
      "action_index": 80,
      "end_physics_step": 6723,
      "physics_steps": 98,
      "start_physics_step": 6625
    },
    {
      "action_index": 81,
      "end_physics_step": 6807,
      "physics_steps": 84,
      "start_physics_step": 6723
    },
    {
      "action_index": 82,
      "end_physics_step": 6874,
      "physics_steps": 67,
      "start_physics_step": 6807
    },
    {
      "action_index": 83,
      "end_physics_step": 6916,
      "physics_steps": 42,
      "start_physics_step": 6874
    },
    {
      "action_index": 84,
      "end_physics_step": 6966,
      "physics_steps": 50,
      "start_physics_step": 6916
    },
    {
      "action_index": 85,
      "end_physics_step": 7016,
      "physics_steps": 50,
      "start_physics_step": 6966
    },
    {
      "action_index": 86,
      "end_physics_step": 7066,
      "physics_steps": 50,
      "start_physics_step": 7016
    },
    {
      "action_index": 87,
      "end_physics_step": 7116,
      "physics_steps": 50,
      "start_physics_step": 7066
    },
    {
      "action_index": 88,
      "end_physics_step": 7166,
      "physics_steps": 50,
      "start_physics_step": 7116
    },
    {
      "action_index": 89,
      "end_physics_step": 7237,
      "physics_steps": 71,
      "start_physics_step": 7166
    },
    {
      "action_index": 90,
      "end_physics_step": 7325,
      "physics_steps": 88,
      "start_physics_step": 7237
    },
    {
      "action_index": 91,
      "end_physics_step": 7426,
      "physics_steps": 101,
      "start_physics_step": 7325
    },
    {
      "action_index": 92,
      "end_physics_step": 7539,
      "physics_steps": 113,
      "start_physics_step": 7426
    },
    {
      "action_index": 93,
      "end_physics_step": 7660,
      "physics_steps": 121,
      "start_physics_step": 7539
    },
    {
      "action_index": 94,
      "end_physics_step": 7787,
      "physics_steps": 127,
      "start_physics_step": 7660
    },
    {
      "action_index": 95,
      "end_physics_step": 7919,
      "physics_steps": 132,
      "start_physics_step": 7787
    },
    {
      "action_index": 96,
      "end_physics_step": 8055,
      "physics_steps": 136,
      "start_physics_step": 7919
    },
    {
      "action_index": 97,
      "end_physics_step": 8195,
      "physics_steps": 140,
      "start_physics_step": 8055
    },
    {
      "action_index": 98,
      "end_physics_step": 8339,
      "physics_steps": 144,
      "start_physics_step": 8195
    },
    {
      "action_index": 99,
      "end_physics_step": 8487,
      "physics_steps": 148,
      "start_physics_step": 8339
    },
    {
      "action_index": 100,
      "end_physics_step": 8639,
      "physics_steps": 152,
      "start_physics_step": 8487
    },
    {
      "action_index": 101,
      "end_physics_step": 8795,
      "physics_steps": 156,
      "start_physics_step": 8639
    },
    {
      "action_index": 102,
      "end_physics_step": 8954,
      "physics_steps": 159,
      "start_physics_step": 8795
    },
    {
      "action_index": 103,
      "end_physics_step": 9115,
      "physics_steps": 161,
      "start_physics_step": 8954
    },
    {
      "action_index": 104,
      "end_physics_step": 9276,
      "physics_steps": 161,
      "start_physics_step": 9115
    },
    {
      "action_index": 105,
      "end_physics_step": 9437,
      "physics_steps": 161,
      "start_physics_step": 9276
    },
    {
      "action_index": 106,
      "end_physics_step": 9596,
      "physics_steps": 159,
      "start_physics_step": 9437
    },
    {
      "action_index": 107,
      "end_physics_step": 9753,
      "physics_steps": 157,
      "start_physics_step": 9596
    },
    {
      "action_index": 108,
      "end_physics_step": 9906,
      "physics_steps": 153,
      "start_physics_step": 9753
    },
    {
      "action_index": 109,
      "end_physics_step": 10053,
      "physics_steps": 147,
      "start_physics_step": 9906
    },
    {
      "action_index": 110,
      "end_physics_step": 10192,
      "physics_steps": 139,
      "start_physics_step": 10053
    },
    {
      "action_index": 111,
      "end_physics_step": 10321,
      "physics_steps": 129,
      "start_physics_step": 10192
    },
    {
      "action_index": 112,
      "end_physics_step": 10439,
      "physics_steps": 118,
      "start_physics_step": 10321
    },
    {
      "action_index": 113,
      "end_physics_step": 10546,
      "physics_steps": 107,
      "start_physics_step": 10439
    },
    {
      "action_index": 114,
      "end_physics_step": 10640,
      "physics_steps": 94,
      "start_physics_step": 10546
    },
    {
      "action_index": 115,
      "end_physics_step": 10718,
      "physics_steps": 78,
      "start_physics_step": 10640
    },
    {
      "action_index": 116,
      "end_physics_step": 10777,
      "physics_steps": 59,
      "start_physics_step": 10718
    },
    {
      "action_index": 117,
      "end_physics_step": 10827,
      "physics_steps": 50,
      "start_physics_step": 10777
    },
    {
      "action_index": 118,
      "end_physics_step": 10877,
      "physics_steps": 50,
      "start_physics_step": 10827
    },
    {
      "action_index": 119,
      "end_physics_step": 10927,
      "physics_steps": 50,
      "start_physics_step": 10877
    },
    {
      "action_index": 120,
      "end_physics_step": 10977,
      "physics_steps": 50,
      "start_physics_step": 10927
    },
    {
      "action_index": 121,
      "end_physics_step": 11027,
      "physics_steps": 50,
      "start_physics_step": 10977
    },
    {
      "action_index": 122,
      "end_physics_step": 11077,
      "physics_steps": 50,
      "start_physics_step": 11027
    },
    {
      "action_index": 123,
      "end_physics_step": 11127,
      "physics_steps": 50,
      "start_physics_step": 11077
    },
    {
      "action_index": 124,
      "end_physics_step": 11177,
      "physics_steps": 50,
      "start_physics_step": 11127
    },
    {
      "action_index": 125,
      "end_physics_step": 11227,
      "physics_steps": 50,
      "start_physics_step": 11177
    },
    {
      "action_index": 126,
      "end_physics_step": 11277,
      "physics_steps": 50,
      "start_physics_step": 11227
    },
    {
      "action_index": 127,
      "end_physics_step": 11327,
      "physics_steps": 50,
      "start_physics_step": 11277
    },
    {
      "action_index": 128,
      "end_physics_step": 11377,
      "physics_steps": 50,
      "start_physics_step": 11327
    },
    {
      "action_index": 129,
      "end_physics_step": 11429,
      "physics_steps": 52,
      "start_physics_step": 11377
    },
    {
      "action_index": 130,
      "end_physics_step": 11502,
      "physics_steps": 73,
      "start_physics_step": 11429
    },
    {
      "action_index": 131,
      "end_physics_step": 11591,
      "physics_steps": 89,
      "start_physics_step": 11502
    },
    {
      "action_index": 132,
      "end_physics_step": 11693,
      "physics_steps": 102,
      "start_physics_step": 11591
    },
    {
      "action_index": 133,
      "end_physics_step": 11808,
      "physics_steps": 115,
      "start_physics_step": 11693
    },
    {
      "action_index": 134,
      "end_physics_step": 11933,
      "physics_steps": 125,
      "start_physics_step": 11808
    },
    {
      "action_index": 135,
      "end_physics_step": 12066,
      "physics_steps": 133,
      "start_physics_step": 11933
    },
    {
      "action_index": 136,
      "end_physics_step": 12205,
      "physics_steps": 139,
      "start_physics_step": 12066
    },
    {
      "action_index": 137,
      "end_physics_step": 12350,
      "physics_steps": 145,
      "start_physics_step": 12205
    },
    {
      "action_index": 138,
      "end_physics_step": 12500,
      "physics_steps": 150,
      "start_physics_step": 12350
    },
    {
      "action_index": 139,
      "end_physics_step": 12653,
      "physics_steps": 153,
      "start_physics_step": 12500
    },
    {
      "action_index": 140,
      "end_physics_step": 12807,
      "physics_steps": 154,
      "start_physics_step": 12653
    },
    {
      "action_index": 141,
      "end_physics_step": 12961,
      "physics_steps": 154,
      "start_physics_step": 12807
    },
    {
      "action_index": 142,
      "end_physics_step": 13114,
      "physics_steps": 153,
      "start_physics_step": 12961
    },
    {
      "action_index": 143,
      "end_physics_step": 13264,
      "physics_steps": 150,
      "start_physics_step": 13114
    },
    {
      "action_index": 144,
      "end_physics_step": 13408,
      "physics_steps": 144,
      "start_physics_step": 13264
    },
    {
      "action_index": 145,
      "end_physics_step": 13545,
      "physics_steps": 137,
      "start_physics_step": 13408
    },
    {
      "action_index": 146,
      "end_physics_step": 13656,
      "physics_steps": 111,
      "start_physics_step": 13545
    }
  ],
  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
  "training_action_final_state": {
    "grippers": [
      0.0,
      0.0
    ],
    "object_position": [
      -0.030373599380254745,
      -0.020045218989253044,
      0.9507079124450684
    ],
    "scanner_functional_point": [
      0.005295057708008245,
      -0.037815730727248816,
      0.930809522422004,
      0.3246070182395549,
      0.6901313618862769,
      -0.3277244249146267,
      -0.5576250428065396
    ]
  },
  "training_action_input_frames": 161,
  "training_action_interarm_contact_steps": 0,
  "training_action_minimum_capsule_distance_m": 0.05089260315901172,
  "training_action_preprocessor": "robotwin_next_sample_joint_target_v2",
  "training_action_preprocessor_version": 2,
  "training_action_replay_profile": "shared_dp3_pi05_qpos_topp_per_target_v1",
  "training_action_replay_success": true,
  "training_action_total_physics_steps": 13656,
  "training_actions_executed": 147
}