{
  "artifacts_complete": true,
  "camera_validation": {
    "episode": 32,
    "fovy_deg": {
      "left": 90.0,
      "right": 90.0
    },
    "frames": 169,
    "head_unique_frame_ratio": 0.9585798816568047,
    "main_camera_policy": "native_dynamic",
    "maximum_mount_distance_error_m": 4.783752344250658e-08,
    "maximum_wrist_consecutive_dark_frames": 0,
    "maximum_wrist_dark_frame_fraction": 0.0,
    "minimum_wrist_median_luminance": 196.05077256944443,
    "parallel_head_unique_frame_ratio": 0.9659090909090909,
    "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": 209.94500868055556,
      "right": 196.05077256944443
    }
  },
  "collision_safe": true,
  "collision_summary": {
    "contact_step_indices": [],
    "first_risk_step": null,
    "interarm_contact_steps": 0,
    "minimum_capsule_distance_m": 0.18171245518320067,
    "moves": {
      "object_place": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.25944878315924896
      },
      "scanner_align": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.18171245518320067
      },
      "scanner_grasp+object_grasp": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.21459736654153344
      },
      "scanner_lift+object_lift": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.2361195693830274
      }
    },
    "physics_steps_checked": 2247
  },
  "episode": 32,
  "frames": 169,
  "plan_success": true,
  "renderer_validation": {
    "camera_shader": "rt",
    "episode": 32,
    "ray_tracing_denoiser": "optix",
    "status": "passed"
  },
  "replay_success": true,
  "seed": 164,
  "source_commits": {
    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
  },
  "task_specific_final_state": {
    "grippers": [
      0.0,
      0.0
    ],
    "object_position": [
      -0.029475554823875427,
      -0.020322442054748535,
      0.9499372839927673
    ],
    "scanner_functional_point": [
      0.01931056014585266,
      -0.020469786780941704,
      0.9548759684288133,
      0.15642169834027428,
      0.6896522638553733,
      -0.15509672177851908,
      -0.6898239008189407
    ]
  },
  "task_success": true,
  "timing_summary": {
    "active_left_frames": 106,
    "active_right_frames": 107,
    "active_union_frames": 142,
    "avoidable_idle_seconds": 2.14,
    "frames": 169,
    "overlap_frames": 71,
    "overlap_ratio_active": 0.5,
    "overlap_ratio_all": 0.42011834319526625,
    "overlap_seconds": 2.3666666666666667,
    "seconds": 5.633333333333334,
    "true_dependency_wait_seconds": 0.0
  },
  "training_action_collision_safe": true,
  "training_action_count": 168,
  "training_action_execution_intervals": [
    {
      "action_index": 0,
      "end_physics_step": 50,
      "physics_steps": 50,
      "start_physics_step": 0
    },
    {
      "action_index": 1,
      "end_physics_step": 100,
      "physics_steps": 50,
      "start_physics_step": 50
    },
    {
      "action_index": 2,
      "end_physics_step": 149,
      "physics_steps": 49,
      "start_physics_step": 100
    },
    {
      "action_index": 3,
      "end_physics_step": 220,
      "physics_steps": 71,
      "start_physics_step": 149
    },
    {
      "action_index": 4,
      "end_physics_step": 308,
      "physics_steps": 88,
      "start_physics_step": 220
    },
    {
      "action_index": 5,
      "end_physics_step": 410,
      "physics_steps": 102,
      "start_physics_step": 308
    },
    {
      "action_index": 6,
      "end_physics_step": 524,
      "physics_steps": 114,
      "start_physics_step": 410
    },
    {
      "action_index": 7,
      "end_physics_step": 649,
      "physics_steps": 125,
      "start_physics_step": 524
    },
    {
      "action_index": 8,
      "end_physics_step": 783,
      "physics_steps": 134,
      "start_physics_step": 649
    },
    {
      "action_index": 9,
      "end_physics_step": 924,
      "physics_steps": 141,
      "start_physics_step": 783
    },
    {
      "action_index": 10,
      "end_physics_step": 1071,
      "physics_steps": 147,
      "start_physics_step": 924
    },
    {
      "action_index": 11,
      "end_physics_step": 1223,
      "physics_steps": 152,
      "start_physics_step": 1071
    },
    {
      "action_index": 12,
      "end_physics_step": 1379,
      "physics_steps": 156,
      "start_physics_step": 1223
    },
    {
      "action_index": 13,
      "end_physics_step": 1537,
      "physics_steps": 158,
      "start_physics_step": 1379
    },
    {
      "action_index": 14,
      "end_physics_step": 1697,
      "physics_steps": 160,
      "start_physics_step": 1537
    },
    {
      "action_index": 15,
      "end_physics_step": 1858,
      "physics_steps": 161,
      "start_physics_step": 1697
    },
    {
      "action_index": 16,
      "end_physics_step": 2019,
      "physics_steps": 161,
      "start_physics_step": 1858
    },
    {
      "action_index": 17,
      "end_physics_step": 2179,
      "physics_steps": 160,
      "start_physics_step": 2019
    },
    {
      "action_index": 18,
      "end_physics_step": 2338,
      "physics_steps": 159,
      "start_physics_step": 2179
    },
    {
      "action_index": 19,
      "end_physics_step": 2494,
      "physics_steps": 156,
      "start_physics_step": 2338
    },
    {
      "action_index": 20,
      "end_physics_step": 2647,
      "physics_steps": 153,
      "start_physics_step": 2494
    },
    {
      "action_index": 21,
      "end_physics_step": 2796,
      "physics_steps": 149,
      "start_physics_step": 2647
    },
    {
      "action_index": 22,
      "end_physics_step": 2939,
      "physics_steps": 143,
      "start_physics_step": 2796
    },
    {
      "action_index": 23,
      "end_physics_step": 3076,
      "physics_steps": 137,
      "start_physics_step": 2939
    },
    {
      "action_index": 24,
      "end_physics_step": 3205,
      "physics_steps": 129,
      "start_physics_step": 3076
    },
    {
      "action_index": 25,
      "end_physics_step": 3324,
      "physics_steps": 119,
      "start_physics_step": 3205
    },
    {
      "action_index": 26,
      "end_physics_step": 3431,
      "physics_steps": 107,
      "start_physics_step": 3324
    },
    {
      "action_index": 27,
      "end_physics_step": 3525,
      "physics_steps": 94,
      "start_physics_step": 3431
    },
    {
      "action_index": 28,
      "end_physics_step": 3604,
      "physics_steps": 79,
      "start_physics_step": 3525
    },
    {
      "action_index": 29,
      "end_physics_step": 3664,
      "physics_steps": 60,
      "start_physics_step": 3604
    },
    {
      "action_index": 30,
      "end_physics_step": 3698,
      "physics_steps": 34,
      "start_physics_step": 3664
    },
    {
      "action_index": 31,
      "end_physics_step": 3748,
      "physics_steps": 50,
      "start_physics_step": 3698
    },
    {
      "action_index": 32,
      "end_physics_step": 3798,
      "physics_steps": 50,
      "start_physics_step": 3748
    },
    {
      "action_index": 33,
      "end_physics_step": 3848,
      "physics_steps": 50,
      "start_physics_step": 3798
    },
    {
      "action_index": 34,
      "end_physics_step": 3884,
      "physics_steps": 36,
      "start_physics_step": 3848
    },
    {
      "action_index": 35,
      "end_physics_step": 3911,
      "physics_steps": 27,
      "start_physics_step": 3884
    },
    {
      "action_index": 36,
      "end_physics_step": 3966,
      "physics_steps": 55,
      "start_physics_step": 3911
    },
    {
      "action_index": 37,
      "end_physics_step": 4040,
      "physics_steps": 74,
      "start_physics_step": 3966
    },
    {
      "action_index": 38,
      "end_physics_step": 4128,
      "physics_steps": 88,
      "start_physics_step": 4040
    },
    {
      "action_index": 39,
      "end_physics_step": 4223,
      "physics_steps": 95,
      "start_physics_step": 4128
    },
    {
      "action_index": 40,
      "end_physics_step": 4324,
      "physics_steps": 101,
      "start_physics_step": 4223
    },
    {
      "action_index": 41,
      "end_physics_step": 4426,
      "physics_steps": 102,
      "start_physics_step": 4324
    },
    {
      "action_index": 42,
      "end_physics_step": 4524,
      "physics_steps": 98,
      "start_physics_step": 4426
    },
    {
      "action_index": 43,
      "end_physics_step": 4616,
      "physics_steps": 92,
      "start_physics_step": 4524
    },
    {
      "action_index": 44,
      "end_physics_step": 4694,
      "physics_steps": 78,
      "start_physics_step": 4616
    },
    {
      "action_index": 45,
      "end_physics_step": 4753,
      "physics_steps": 59,
      "start_physics_step": 4694
    },
    {
      "action_index": 46,
      "end_physics_step": 4783,
      "physics_steps": 30,
      "start_physics_step": 4753
    },
    {
      "action_index": 47,
      "end_physics_step": 4833,
      "physics_steps": 50,
      "start_physics_step": 4783
    },
    {
      "action_index": 48,
      "end_physics_step": 4883,
      "physics_steps": 50,
      "start_physics_step": 4833
    },
    {
      "action_index": 49,
      "end_physics_step": 4933,
      "physics_steps": 50,
      "start_physics_step": 4883
    },
    {
      "action_index": 50,
      "end_physics_step": 4983,
      "physics_steps": 50,
      "start_physics_step": 4933
    },
    {
      "action_index": 51,
      "end_physics_step": 5033,
      "physics_steps": 50,
      "start_physics_step": 4983
    },
    {
      "action_index": 52,
      "end_physics_step": 5083,
      "physics_steps": 50,
      "start_physics_step": 5033
    },
    {
      "action_index": 53,
      "end_physics_step": 5133,
      "physics_steps": 50,
      "start_physics_step": 5083
    },
    {
      "action_index": 54,
      "end_physics_step": 5183,
      "physics_steps": 50,
      "start_physics_step": 5133
    },
    {
      "action_index": 55,
      "end_physics_step": 5233,
      "physics_steps": 50,
      "start_physics_step": 5183
    },
    {
      "action_index": 56,
      "end_physics_step": 5283,
      "physics_steps": 50,
      "start_physics_step": 5233
    },
    {
      "action_index": 57,
      "end_physics_step": 5333,
      "physics_steps": 50,
      "start_physics_step": 5283
    },
    {
      "action_index": 58,
      "end_physics_step": 5383,
      "physics_steps": 50,
      "start_physics_step": 5333
    },
    {
      "action_index": 59,
      "end_physics_step": 5433,
      "physics_steps": 50,
      "start_physics_step": 5383
    },
    {
      "action_index": 60,
      "end_physics_step": 5483,
      "physics_steps": 50,
      "start_physics_step": 5433
    },
    {
      "action_index": 61,
      "end_physics_step": 5533,
      "physics_steps": 50,
      "start_physics_step": 5483
    },
    {
      "action_index": 62,
      "end_physics_step": 5583,
      "physics_steps": 50,
      "start_physics_step": 5533
    },
    {
      "action_index": 63,
      "end_physics_step": 5633,
      "physics_steps": 50,
      "start_physics_step": 5583
    },
    {
      "action_index": 64,
      "end_physics_step": 5683,
      "physics_steps": 50,
      "start_physics_step": 5633
    },
    {
      "action_index": 65,
      "end_physics_step": 5733,
      "physics_steps": 50,
      "start_physics_step": 5683
    },
    {
      "action_index": 66,
      "end_physics_step": 5783,
      "physics_steps": 50,
      "start_physics_step": 5733
    },
    {
      "action_index": 67,
      "end_physics_step": 5833,
      "physics_steps": 50,
      "start_physics_step": 5783
    },
    {
      "action_index": 68,
      "end_physics_step": 5883,
      "physics_steps": 50,
      "start_physics_step": 5833
    },
    {
      "action_index": 69,
      "end_physics_step": 5933,
      "physics_steps": 50,
      "start_physics_step": 5883
    },
    {
      "action_index": 70,
      "end_physics_step": 5983,
      "physics_steps": 50,
      "start_physics_step": 5933
    },
    {
      "action_index": 71,
      "end_physics_step": 6031,
      "physics_steps": 48,
      "start_physics_step": 5983
    },
    {
      "action_index": 72,
      "end_physics_step": 6057,
      "physics_steps": 26,
      "start_physics_step": 6031
    },
    {
      "action_index": 73,
      "end_physics_step": 6114,
      "physics_steps": 57,
      "start_physics_step": 6057
    },
    {
      "action_index": 74,
      "end_physics_step": 6190,
      "physics_steps": 76,
      "start_physics_step": 6114
    },
    {
      "action_index": 75,
      "end_physics_step": 6282,
      "physics_steps": 92,
      "start_physics_step": 6190
    },
    {
      "action_index": 76,
      "end_physics_step": 6387,
      "physics_steps": 105,
      "start_physics_step": 6282
    },
    {
      "action_index": 77,
      "end_physics_step": 6503,
      "physics_steps": 116,
      "start_physics_step": 6387
    },
    {
      "action_index": 78,
      "end_physics_step": 6625,
      "physics_steps": 122,
      "start_physics_step": 6503
    },
    {
      "action_index": 79,
      "end_physics_step": 6746,
      "physics_steps": 121,
      "start_physics_step": 6625
    },
    {
      "action_index": 80,
      "end_physics_step": 6864,
      "physics_steps": 118,
      "start_physics_step": 6746
    },
    {
      "action_index": 81,
      "end_physics_step": 6973,
      "physics_steps": 109,
      "start_physics_step": 6864
    },
    {
      "action_index": 82,
      "end_physics_step": 7069,
      "physics_steps": 96,
      "start_physics_step": 6973
    },
    {
      "action_index": 83,
      "end_physics_step": 7150,
      "physics_steps": 81,
      "start_physics_step": 7069
    },
    {
      "action_index": 84,
      "end_physics_step": 7213,
      "physics_steps": 63,
      "start_physics_step": 7150
    },
    {
      "action_index": 85,
      "end_physics_step": 7249,
      "physics_steps": 36,
      "start_physics_step": 7213
    },
    {
      "action_index": 86,
      "end_physics_step": 7299,
      "physics_steps": 50,
      "start_physics_step": 7249
    },
    {
      "action_index": 87,
      "end_physics_step": 7349,
      "physics_steps": 50,
      "start_physics_step": 7299
    },
    {
      "action_index": 88,
      "end_physics_step": 7399,
      "physics_steps": 50,
      "start_physics_step": 7349
    },
    {
      "action_index": 89,
      "end_physics_step": 7449,
      "physics_steps": 50,
      "start_physics_step": 7399
    },
    {
      "action_index": 90,
      "end_physics_step": 7499,
      "physics_steps": 50,
      "start_physics_step": 7449
    },
    {
      "action_index": 91,
      "end_physics_step": 7570,
      "physics_steps": 71,
      "start_physics_step": 7499
    },
    {
      "action_index": 92,
      "end_physics_step": 7658,
      "physics_steps": 88,
      "start_physics_step": 7570
    },
    {
      "action_index": 93,
      "end_physics_step": 7760,
      "physics_steps": 102,
      "start_physics_step": 7658
    },
    {
      "action_index": 94,
      "end_physics_step": 7874,
      "physics_steps": 114,
      "start_physics_step": 7760
    },
    {
      "action_index": 95,
      "end_physics_step": 7999,
      "physics_steps": 125,
      "start_physics_step": 7874
    },
    {
      "action_index": 96,
      "end_physics_step": 8134,
      "physics_steps": 135,
      "start_physics_step": 7999
    },
    {
      "action_index": 97,
      "end_physics_step": 8278,
      "physics_steps": 144,
      "start_physics_step": 8134
    },
    {
      "action_index": 98,
      "end_physics_step": 8428,
      "physics_steps": 150,
      "start_physics_step": 8278
    },
    {
      "action_index": 99,
      "end_physics_step": 8584,
      "physics_steps": 156,
      "start_physics_step": 8428
    },
    {
      "action_index": 100,
      "end_physics_step": 8744,
      "physics_steps": 160,
      "start_physics_step": 8584
    },
    {
      "action_index": 101,
      "end_physics_step": 8907,
      "physics_steps": 163,
      "start_physics_step": 8744
    },
    {
      "action_index": 102,
      "end_physics_step": 9073,
      "physics_steps": 166,
      "start_physics_step": 8907
    },
    {
      "action_index": 103,
      "end_physics_step": 9240,
      "physics_steps": 167,
      "start_physics_step": 9073
    },
    {
      "action_index": 104,
      "end_physics_step": 9407,
      "physics_steps": 167,
      "start_physics_step": 9240
    },
    {
      "action_index": 105,
      "end_physics_step": 9574,
      "physics_steps": 167,
      "start_physics_step": 9407
    },
    {
      "action_index": 106,
      "end_physics_step": 9740,
      "physics_steps": 166,
      "start_physics_step": 9574
    },
    {
      "action_index": 107,
      "end_physics_step": 9904,
      "physics_steps": 164,
      "start_physics_step": 9740
    },
    {
      "action_index": 108,
      "end_physics_step": 10065,
      "physics_steps": 161,
      "start_physics_step": 9904
    },
    {
      "action_index": 109,
      "end_physics_step": 10222,
      "physics_steps": 157,
      "start_physics_step": 10065
    },
    {
      "action_index": 110,
      "end_physics_step": 10374,
      "physics_steps": 152,
      "start_physics_step": 10222
    },
    {
      "action_index": 111,
      "end_physics_step": 10521,
      "physics_steps": 147,
      "start_physics_step": 10374
    },
    {
      "action_index": 112,
      "end_physics_step": 10661,
      "physics_steps": 140,
      "start_physics_step": 10521
    },
    {
      "action_index": 113,
      "end_physics_step": 10793,
      "physics_steps": 132,
      "start_physics_step": 10661
    },
    {
      "action_index": 114,
      "end_physics_step": 10916,
      "physics_steps": 123,
      "start_physics_step": 10793
    },
    {
      "action_index": 115,
      "end_physics_step": 11028,
      "physics_steps": 112,
      "start_physics_step": 10916
    },
    {
      "action_index": 116,
      "end_physics_step": 11128,
      "physics_steps": 100,
      "start_physics_step": 11028
    },
    {
      "action_index": 117,
      "end_physics_step": 11214,
      "physics_steps": 86,
      "start_physics_step": 11128
    },
    {
      "action_index": 118,
      "end_physics_step": 11282,
      "physics_steps": 68,
      "start_physics_step": 11214
    },
    {
      "action_index": 119,
      "end_physics_step": 11332,
      "physics_steps": 50,
      "start_physics_step": 11282
    },
    {
      "action_index": 120,
      "end_physics_step": 11382,
      "physics_steps": 50,
      "start_physics_step": 11332
    },
    {
      "action_index": 121,
      "end_physics_step": 11432,
      "physics_steps": 50,
      "start_physics_step": 11382
    },
    {
      "action_index": 122,
      "end_physics_step": 11482,
      "physics_steps": 50,
      "start_physics_step": 11432
    },
    {
      "action_index": 123,
      "end_physics_step": 11532,
      "physics_steps": 50,
      "start_physics_step": 11482
    },
    {
      "action_index": 124,
      "end_physics_step": 11582,
      "physics_steps": 50,
      "start_physics_step": 11532
    },
    {
      "action_index": 125,
      "end_physics_step": 11632,
      "physics_steps": 50,
      "start_physics_step": 11582
    },
    {
      "action_index": 126,
      "end_physics_step": 11682,
      "physics_steps": 50,
      "start_physics_step": 11632
    },
    {
      "action_index": 127,
      "end_physics_step": 11732,
      "physics_steps": 50,
      "start_physics_step": 11682
    },
    {
      "action_index": 128,
      "end_physics_step": 11782,
      "physics_steps": 50,
      "start_physics_step": 11732
    },
    {
      "action_index": 129,
      "end_physics_step": 11832,
      "physics_steps": 50,
      "start_physics_step": 11782
    },
    {
      "action_index": 130,
      "end_physics_step": 11882,
      "physics_steps": 50,
      "start_physics_step": 11832
    },
    {
      "action_index": 131,
      "end_physics_step": 11952,
      "physics_steps": 70,
      "start_physics_step": 11882
    },
    {
      "action_index": 132,
      "end_physics_step": 12036,
      "physics_steps": 84,
      "start_physics_step": 11952
    },
    {
      "action_index": 133,
      "end_physics_step": 12131,
      "physics_steps": 95,
      "start_physics_step": 12036
    },
    {
      "action_index": 134,
      "end_physics_step": 12235,
      "physics_steps": 104,
      "start_physics_step": 12131
    },
    {
      "action_index": 135,
      "end_physics_step": 12346,
      "physics_steps": 111,
      "start_physics_step": 12235
    },
    {
      "action_index": 136,
      "end_physics_step": 12463,
      "physics_steps": 117,
      "start_physics_step": 12346
    },
    {
      "action_index": 137,
      "end_physics_step": 12585,
      "physics_steps": 122,
      "start_physics_step": 12463
    },
    {
      "action_index": 138,
      "end_physics_step": 12711,
      "physics_steps": 126,
      "start_physics_step": 12585
    },
    {
      "action_index": 139,
      "end_physics_step": 12840,
      "physics_steps": 129,
      "start_physics_step": 12711
    },
    {
      "action_index": 140,
      "end_physics_step": 12972,
      "physics_steps": 132,
      "start_physics_step": 12840
    },
    {
      "action_index": 141,
      "end_physics_step": 13106,
      "physics_steps": 134,
      "start_physics_step": 12972
    },
    {
      "action_index": 142,
      "end_physics_step": 13241,
      "physics_steps": 135,
      "start_physics_step": 13106
    },
    {
      "action_index": 143,
      "end_physics_step": 13376,
      "physics_steps": 135,
      "start_physics_step": 13241
    },
    {
      "action_index": 144,
      "end_physics_step": 13511,
      "physics_steps": 135,
      "start_physics_step": 13376
    },
    {
      "action_index": 145,
      "end_physics_step": 13645,
      "physics_steps": 134,
      "start_physics_step": 13511
    },
    {
      "action_index": 146,
      "end_physics_step": 13778,
      "physics_steps": 133,
      "start_physics_step": 13645
    },
    {
      "action_index": 147,
      "end_physics_step": 13908,
      "physics_steps": 130,
      "start_physics_step": 13778
    },
    {
      "action_index": 148,
      "end_physics_step": 14035,
      "physics_steps": 127,
      "start_physics_step": 13908
    },
    {
      "action_index": 149,
      "end_physics_step": 14159,
      "physics_steps": 124,
      "start_physics_step": 14035
    },
    {
      "action_index": 150,
      "end_physics_step": 14279,
      "physics_steps": 120,
      "start_physics_step": 14159
    },
    {
      "action_index": 151,
      "end_physics_step": 14361,
      "physics_steps": 82,
      "start_physics_step": 14279
    }
  ],
  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
  "training_action_final_state": {
    "grippers": [
      0.0,
      0.0
    ],
    "object_position": [
      -0.03212224319577217,
      -0.024109970778226852,
      0.9476662278175354
    ],
    "scanner_functional_point": [
      0.016413634437849395,
      -0.0021941204402534005,
      0.9416197965949534,
      0.1261508270262153,
      0.7209381889245866,
      -0.18926959700872048,
      -0.6546076047823577
    ]
  },
  "training_action_input_frames": 169,
  "training_action_interarm_contact_steps": 0,
  "training_action_minimum_capsule_distance_m": 0.18638862788022037,
  "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": 14361,
  "training_actions_executed": 152
}