{
  "artifacts_complete": true,
  "camera_validation": {
    "episode": 7,
    "fovy_deg": {
      "left": 90.0,
      "right": 90.0
    },
    "frames": 174,
    "head_unique_frame_ratio": 0.9540229885057471,
    "main_camera_policy": "native_dynamic",
    "maximum_mount_distance_error_m": 4.6624245977899825e-08,
    "maximum_wrist_consecutive_dark_frames": 0,
    "maximum_wrist_dark_frame_fraction": 0.0,
    "minimum_wrist_median_luminance": 199.6534939236111,
    "parallel_head_unique_frame_ratio": 0.9545454545454546,
    "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": 199.6534939236111,
      "right": 217.99375217013886
    }
  },
  "collision_safe": true,
  "collision_summary": {
    "contact_step_indices": [],
    "first_risk_step": null,
    "interarm_contact_steps": 0,
    "minimum_capsule_distance_m": 0.18168852301372374,
    "moves": {
      "object_place": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.328516449304966
      },
      "scanner_align": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.18168852301372374
      },
      "scanner_grasp+object_grasp": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.30252731521577636
      },
      "scanner_lift+object_lift": {
        "contact_step_indices": [],
        "interarm_contact_steps": 0,
        "minimum_capsule_distance_m": 0.3428071517576776
      }
    },
    "physics_steps_checked": 2311
  },
  "episode": 7,
  "frames": 174,
  "plan_success": true,
  "renderer_validation": {
    "camera_shader": "rt",
    "episode": 7,
    "ray_tracing_denoiser": "optix",
    "status": "passed"
  },
  "replay_success": true,
  "seed": 30,
  "source_commits": {
    "parallelvla": "1e5e612947040fc88ef308e93098a8fbadc7663a",
    "robotwin": "74df8dde653c62dbd454ec59909119e5534dfe4a",
    "robotwin_worktree_diff_sha256": "8b17ad457a27d8256ca1f3b2300e60c9853326ac4362e909cdb8bcc66b76c040"
  },
  "task_specific_final_state": {
    "grippers": [
      0.0,
      0.0
    ],
    "object_position": [
      0.030709950253367424,
      -0.01941676437854767,
      0.9493442177772522
    ],
    "scanner_functional_point": [
      -0.01991461409662662,
      -0.01476078834648746,
      0.9520614595444711,
      0.5428900131359516,
      -0.4524275200828075,
      0.5435579079105587,
      -0.4529068043834879
    ]
  },
  "task_success": true,
  "timing_summary": {
    "active_left_frames": 104,
    "active_right_frames": 116,
    "active_union_frames": 148,
    "avoidable_idle_seconds": 2.696,
    "frames": 174,
    "overlap_frames": 72,
    "overlap_ratio_active": 0.4864864864864865,
    "overlap_ratio_all": 0.41379310344827586,
    "overlap_seconds": 2.4,
    "seconds": 5.8,
    "true_dependency_wait_seconds": 0.0
  },
  "training_action_collision_safe": true,
  "training_action_count": 173,
  "training_action_execution_intervals": [
    {
      "action_index": 0,
      "end_physics_step": 50,
      "physics_steps": 50,
      "start_physics_step": 0
    },
    {
      "action_index": 1,
      "end_physics_step": 63,
      "physics_steps": 13,
      "start_physics_step": 50
    },
    {
      "action_index": 2,
      "end_physics_step": 114,
      "physics_steps": 51,
      "start_physics_step": 63
    },
    {
      "action_index": 3,
      "end_physics_step": 186,
      "physics_steps": 72,
      "start_physics_step": 114
    },
    {
      "action_index": 4,
      "end_physics_step": 275,
      "physics_steps": 89,
      "start_physics_step": 186
    },
    {
      "action_index": 5,
      "end_physics_step": 377,
      "physics_steps": 102,
      "start_physics_step": 275
    },
    {
      "action_index": 6,
      "end_physics_step": 492,
      "physics_steps": 115,
      "start_physics_step": 377
    },
    {
      "action_index": 7,
      "end_physics_step": 617,
      "physics_steps": 125,
      "start_physics_step": 492
    },
    {
      "action_index": 8,
      "end_physics_step": 752,
      "physics_steps": 135,
      "start_physics_step": 617
    },
    {
      "action_index": 9,
      "end_physics_step": 895,
      "physics_steps": 143,
      "start_physics_step": 752
    },
    {
      "action_index": 10,
      "end_physics_step": 1045,
      "physics_steps": 150,
      "start_physics_step": 895
    },
    {
      "action_index": 11,
      "end_physics_step": 1200,
      "physics_steps": 155,
      "start_physics_step": 1045
    },
    {
      "action_index": 12,
      "end_physics_step": 1358,
      "physics_steps": 158,
      "start_physics_step": 1200
    },
    {
      "action_index": 13,
      "end_physics_step": 1518,
      "physics_steps": 160,
      "start_physics_step": 1358
    },
    {
      "action_index": 14,
      "end_physics_step": 1679,
      "physics_steps": 161,
      "start_physics_step": 1518
    },
    {
      "action_index": 15,
      "end_physics_step": 1840,
      "physics_steps": 161,
      "start_physics_step": 1679
    },
    {
      "action_index": 16,
      "end_physics_step": 1999,
      "physics_steps": 159,
      "start_physics_step": 1840
    },
    {
      "action_index": 17,
      "end_physics_step": 2155,
      "physics_steps": 156,
      "start_physics_step": 1999
    },
    {
      "action_index": 18,
      "end_physics_step": 2307,
      "physics_steps": 152,
      "start_physics_step": 2155
    },
    {
      "action_index": 19,
      "end_physics_step": 2454,
      "physics_steps": 147,
      "start_physics_step": 2307
    },
    {
      "action_index": 20,
      "end_physics_step": 2594,
      "physics_steps": 140,
      "start_physics_step": 2454
    },
    {
      "action_index": 21,
      "end_physics_step": 2725,
      "physics_steps": 131,
      "start_physics_step": 2594
    },
    {
      "action_index": 22,
      "end_physics_step": 2846,
      "physics_steps": 121,
      "start_physics_step": 2725
    },
    {
      "action_index": 23,
      "end_physics_step": 2955,
      "physics_steps": 109,
      "start_physics_step": 2846
    },
    {
      "action_index": 24,
      "end_physics_step": 3051,
      "physics_steps": 96,
      "start_physics_step": 2955
    },
    {
      "action_index": 25,
      "end_physics_step": 3132,
      "physics_steps": 81,
      "start_physics_step": 3051
    },
    {
      "action_index": 26,
      "end_physics_step": 3195,
      "physics_steps": 63,
      "start_physics_step": 3132
    },
    {
      "action_index": 27,
      "end_physics_step": 3232,
      "physics_steps": 37,
      "start_physics_step": 3195
    },
    {
      "action_index": 28,
      "end_physics_step": 3282,
      "physics_steps": 50,
      "start_physics_step": 3232
    },
    {
      "action_index": 29,
      "end_physics_step": 3332,
      "physics_steps": 50,
      "start_physics_step": 3282
    },
    {
      "action_index": 30,
      "end_physics_step": 3382,
      "physics_steps": 50,
      "start_physics_step": 3332
    },
    {
      "action_index": 31,
      "end_physics_step": 3417,
      "physics_steps": 35,
      "start_physics_step": 3382
    },
    {
      "action_index": 32,
      "end_physics_step": 3444,
      "physics_steps": 27,
      "start_physics_step": 3417
    },
    {
      "action_index": 33,
      "end_physics_step": 3501,
      "physics_steps": 57,
      "start_physics_step": 3444
    },
    {
      "action_index": 34,
      "end_physics_step": 3576,
      "physics_steps": 75,
      "start_physics_step": 3501
    },
    {
      "action_index": 35,
      "end_physics_step": 3664,
      "physics_steps": 88,
      "start_physics_step": 3576
    },
    {
      "action_index": 36,
      "end_physics_step": 3761,
      "physics_steps": 97,
      "start_physics_step": 3664
    },
    {
      "action_index": 37,
      "end_physics_step": 3864,
      "physics_steps": 103,
      "start_physics_step": 3761
    },
    {
      "action_index": 38,
      "end_physics_step": 3970,
      "physics_steps": 106,
      "start_physics_step": 3864
    },
    {
      "action_index": 39,
      "end_physics_step": 4075,
      "physics_steps": 105,
      "start_physics_step": 3970
    },
    {
      "action_index": 40,
      "end_physics_step": 4176,
      "physics_steps": 101,
      "start_physics_step": 4075
    },
    {
      "action_index": 41,
      "end_physics_step": 4269,
      "physics_steps": 93,
      "start_physics_step": 4176
    },
    {
      "action_index": 42,
      "end_physics_step": 4348,
      "physics_steps": 79,
      "start_physics_step": 4269
    },
    {
      "action_index": 43,
      "end_physics_step": 4407,
      "physics_steps": 59,
      "start_physics_step": 4348
    },
    {
      "action_index": 44,
      "end_physics_step": 4438,
      "physics_steps": 31,
      "start_physics_step": 4407
    },
    {
      "action_index": 45,
      "end_physics_step": 4488,
      "physics_steps": 50,
      "start_physics_step": 4438
    },
    {
      "action_index": 46,
      "end_physics_step": 4538,
      "physics_steps": 50,
      "start_physics_step": 4488
    },
    {
      "action_index": 47,
      "end_physics_step": 4588,
      "physics_steps": 50,
      "start_physics_step": 4538
    },
    {
      "action_index": 48,
      "end_physics_step": 4638,
      "physics_steps": 50,
      "start_physics_step": 4588
    },
    {
      "action_index": 49,
      "end_physics_step": 4688,
      "physics_steps": 50,
      "start_physics_step": 4638
    },
    {
      "action_index": 50,
      "end_physics_step": 4738,
      "physics_steps": 50,
      "start_physics_step": 4688
    },
    {
      "action_index": 51,
      "end_physics_step": 4788,
      "physics_steps": 50,
      "start_physics_step": 4738
    },
    {
      "action_index": 52,
      "end_physics_step": 4838,
      "physics_steps": 50,
      "start_physics_step": 4788
    },
    {
      "action_index": 53,
      "end_physics_step": 4888,
      "physics_steps": 50,
      "start_physics_step": 4838
    },
    {
      "action_index": 54,
      "end_physics_step": 4938,
      "physics_steps": 50,
      "start_physics_step": 4888
    },
    {
      "action_index": 55,
      "end_physics_step": 4988,
      "physics_steps": 50,
      "start_physics_step": 4938
    },
    {
      "action_index": 56,
      "end_physics_step": 5038,
      "physics_steps": 50,
      "start_physics_step": 4988
    },
    {
      "action_index": 57,
      "end_physics_step": 5088,
      "physics_steps": 50,
      "start_physics_step": 5038
    },
    {
      "action_index": 58,
      "end_physics_step": 5138,
      "physics_steps": 50,
      "start_physics_step": 5088
    },
    {
      "action_index": 59,
      "end_physics_step": 5188,
      "physics_steps": 50,
      "start_physics_step": 5138
    },
    {
      "action_index": 60,
      "end_physics_step": 5238,
      "physics_steps": 50,
      "start_physics_step": 5188
    },
    {
      "action_index": 61,
      "end_physics_step": 5288,
      "physics_steps": 50,
      "start_physics_step": 5238
    },
    {
      "action_index": 62,
      "end_physics_step": 5338,
      "physics_steps": 50,
      "start_physics_step": 5288
    },
    {
      "action_index": 63,
      "end_physics_step": 5388,
      "physics_steps": 50,
      "start_physics_step": 5338
    },
    {
      "action_index": 64,
      "end_physics_step": 5438,
      "physics_steps": 50,
      "start_physics_step": 5388
    },
    {
      "action_index": 65,
      "end_physics_step": 5488,
      "physics_steps": 50,
      "start_physics_step": 5438
    },
    {
      "action_index": 66,
      "end_physics_step": 5538,
      "physics_steps": 50,
      "start_physics_step": 5488
    },
    {
      "action_index": 67,
      "end_physics_step": 5588,
      "physics_steps": 50,
      "start_physics_step": 5538
    },
    {
      "action_index": 68,
      "end_physics_step": 5638,
      "physics_steps": 50,
      "start_physics_step": 5588
    },
    {
      "action_index": 69,
      "end_physics_step": 5657,
      "physics_steps": 19,
      "start_physics_step": 5638
    },
    {
      "action_index": 70,
      "end_physics_step": 5682,
      "physics_steps": 25,
      "start_physics_step": 5657
    },
    {
      "action_index": 71,
      "end_physics_step": 5739,
      "physics_steps": 57,
      "start_physics_step": 5682
    },
    {
      "action_index": 72,
      "end_physics_step": 5816,
      "physics_steps": 77,
      "start_physics_step": 5739
    },
    {
      "action_index": 73,
      "end_physics_step": 5908,
      "physics_steps": 92,
      "start_physics_step": 5816
    },
    {
      "action_index": 74,
      "end_physics_step": 6014,
      "physics_steps": 106,
      "start_physics_step": 5908
    },
    {
      "action_index": 75,
      "end_physics_step": 6131,
      "physics_steps": 117,
      "start_physics_step": 6014
    },
    {
      "action_index": 76,
      "end_physics_step": 6254,
      "physics_steps": 123,
      "start_physics_step": 6131
    },
    {
      "action_index": 77,
      "end_physics_step": 6380,
      "physics_steps": 126,
      "start_physics_step": 6254
    },
    {
      "action_index": 78,
      "end_physics_step": 6505,
      "physics_steps": 125,
      "start_physics_step": 6380
    },
    {
      "action_index": 79,
      "end_physics_step": 6626,
      "physics_steps": 121,
      "start_physics_step": 6505
    },
    {
      "action_index": 80,
      "end_physics_step": 6738,
      "physics_steps": 112,
      "start_physics_step": 6626
    },
    {
      "action_index": 81,
      "end_physics_step": 6838,
      "physics_steps": 100,
      "start_physics_step": 6738
    },
    {
      "action_index": 82,
      "end_physics_step": 6924,
      "physics_steps": 86,
      "start_physics_step": 6838
    },
    {
      "action_index": 83,
      "end_physics_step": 6992,
      "physics_steps": 68,
      "start_physics_step": 6924
    },
    {
      "action_index": 84,
      "end_physics_step": 7036,
      "physics_steps": 44,
      "start_physics_step": 6992
    },
    {
      "action_index": 85,
      "end_physics_step": 7045,
      "physics_steps": 9,
      "start_physics_step": 7036
    },
    {
      "action_index": 86,
      "end_physics_step": 7095,
      "physics_steps": 50,
      "start_physics_step": 7045
    },
    {
      "action_index": 87,
      "end_physics_step": 7145,
      "physics_steps": 50,
      "start_physics_step": 7095
    },
    {
      "action_index": 88,
      "end_physics_step": 7195,
      "physics_steps": 50,
      "start_physics_step": 7145
    },
    {
      "action_index": 89,
      "end_physics_step": 7245,
      "physics_steps": 50,
      "start_physics_step": 7195
    },
    {
      "action_index": 90,
      "end_physics_step": 7295,
      "physics_steps": 50,
      "start_physics_step": 7245
    },
    {
      "action_index": 91,
      "end_physics_step": 7359,
      "physics_steps": 64,
      "start_physics_step": 7295
    },
    {
      "action_index": 92,
      "end_physics_step": 7438,
      "physics_steps": 79,
      "start_physics_step": 7359
    },
    {
      "action_index": 93,
      "end_physics_step": 7533,
      "physics_steps": 95,
      "start_physics_step": 7438
    },
    {
      "action_index": 94,
      "end_physics_step": 7636,
      "physics_steps": 103,
      "start_physics_step": 7533
    },
    {
      "action_index": 95,
      "end_physics_step": 7746,
      "physics_steps": 110,
      "start_physics_step": 7636
    },
    {
      "action_index": 96,
      "end_physics_step": 7863,
      "physics_steps": 117,
      "start_physics_step": 7746
    },
    {
      "action_index": 97,
      "end_physics_step": 7987,
      "physics_steps": 124,
      "start_physics_step": 7863
    },
    {
      "action_index": 98,
      "end_physics_step": 8116,
      "physics_steps": 129,
      "start_physics_step": 7987
    },
    {
      "action_index": 99,
      "end_physics_step": 8249,
      "physics_steps": 133,
      "start_physics_step": 8116
    },
    {
      "action_index": 100,
      "end_physics_step": 8385,
      "physics_steps": 136,
      "start_physics_step": 8249
    },
    {
      "action_index": 101,
      "end_physics_step": 8525,
      "physics_steps": 140,
      "start_physics_step": 8385
    },
    {
      "action_index": 102,
      "end_physics_step": 8668,
      "physics_steps": 143,
      "start_physics_step": 8525
    },
    {
      "action_index": 103,
      "end_physics_step": 8813,
      "physics_steps": 145,
      "start_physics_step": 8668
    },
    {
      "action_index": 104,
      "end_physics_step": 8960,
      "physics_steps": 147,
      "start_physics_step": 8813
    },
    {
      "action_index": 105,
      "end_physics_step": 9109,
      "physics_steps": 149,
      "start_physics_step": 8960
    },
    {
      "action_index": 106,
      "end_physics_step": 9259,
      "physics_steps": 150,
      "start_physics_step": 9109
    },
    {
      "action_index": 107,
      "end_physics_step": 9410,
      "physics_steps": 151,
      "start_physics_step": 9259
    },
    {
      "action_index": 108,
      "end_physics_step": 9562,
      "physics_steps": 152,
      "start_physics_step": 9410
    },
    {
      "action_index": 109,
      "end_physics_step": 9715,
      "physics_steps": 153,
      "start_physics_step": 9562
    },
    {
      "action_index": 110,
      "end_physics_step": 9868,
      "physics_steps": 153,
      "start_physics_step": 9715
    },
    {
      "action_index": 111,
      "end_physics_step": 10021,
      "physics_steps": 153,
      "start_physics_step": 9868
    },
    {
      "action_index": 112,
      "end_physics_step": 10174,
      "physics_steps": 153,
      "start_physics_step": 10021
    },
    {
      "action_index": 113,
      "end_physics_step": 10326,
      "physics_steps": 152,
      "start_physics_step": 10174
    },
    {
      "action_index": 114,
      "end_physics_step": 10477,
      "physics_steps": 151,
      "start_physics_step": 10326
    },
    {
      "action_index": 115,
      "end_physics_step": 10627,
      "physics_steps": 150,
      "start_physics_step": 10477
    },
    {
      "action_index": 116,
      "end_physics_step": 10775,
      "physics_steps": 148,
      "start_physics_step": 10627
    },
    {
      "action_index": 117,
      "end_physics_step": 10920,
      "physics_steps": 145,
      "start_physics_step": 10775
    },
    {
      "action_index": 118,
      "end_physics_step": 11062,
      "physics_steps": 142,
      "start_physics_step": 10920
    },
    {
      "action_index": 119,
      "end_physics_step": 11200,
      "physics_steps": 138,
      "start_physics_step": 11062
    },
    {
      "action_index": 120,
      "end_physics_step": 11334,
      "physics_steps": 134,
      "start_physics_step": 11200
    },
    {
      "action_index": 121,
      "end_physics_step": 11460,
      "physics_steps": 126,
      "start_physics_step": 11334
    },
    {
      "action_index": 122,
      "end_physics_step": 11579,
      "physics_steps": 119,
      "start_physics_step": 11460
    },
    {
      "action_index": 123,
      "end_physics_step": 11690,
      "physics_steps": 111,
      "start_physics_step": 11579
    },
    {
      "action_index": 124,
      "end_physics_step": 11792,
      "physics_steps": 102,
      "start_physics_step": 11690
    },
    {
      "action_index": 125,
      "end_physics_step": 11875,
      "physics_steps": 83,
      "start_physics_step": 11792
    },
    {
      "action_index": 126,
      "end_physics_step": 11942,
      "physics_steps": 67,
      "start_physics_step": 11875
    },
    {
      "action_index": 127,
      "end_physics_step": 11992,
      "physics_steps": 50,
      "start_physics_step": 11942
    },
    {
      "action_index": 128,
      "end_physics_step": 12042,
      "physics_steps": 50,
      "start_physics_step": 11992
    },
    {
      "action_index": 129,
      "end_physics_step": 12092,
      "physics_steps": 50,
      "start_physics_step": 12042
    },
    {
      "action_index": 130,
      "end_physics_step": 12142,
      "physics_steps": 50,
      "start_physics_step": 12092
    },
    {
      "action_index": 131,
      "end_physics_step": 12192,
      "physics_steps": 50,
      "start_physics_step": 12142
    },
    {
      "action_index": 132,
      "end_physics_step": 12242,
      "physics_steps": 50,
      "start_physics_step": 12192
    },
    {
      "action_index": 133,
      "end_physics_step": 12292,
      "physics_steps": 50,
      "start_physics_step": 12242
    },
    {
      "action_index": 134,
      "end_physics_step": 12342,
      "physics_steps": 50,
      "start_physics_step": 12292
    },
    {
      "action_index": 135,
      "end_physics_step": 12392,
      "physics_steps": 50,
      "start_physics_step": 12342
    },
    {
      "action_index": 136,
      "end_physics_step": 12442,
      "physics_steps": 50,
      "start_physics_step": 12392
    },
    {
      "action_index": 137,
      "end_physics_step": 12492,
      "physics_steps": 50,
      "start_physics_step": 12442
    },
    {
      "action_index": 138,
      "end_physics_step": 12542,
      "physics_steps": 50,
      "start_physics_step": 12492
    },
    {
      "action_index": 139,
      "end_physics_step": 12592,
      "physics_steps": 50,
      "start_physics_step": 12542
    },
    {
      "action_index": 140,
      "end_physics_step": 12643,
      "physics_steps": 51,
      "start_physics_step": 12592
    },
    {
      "action_index": 141,
      "end_physics_step": 12715,
      "physics_steps": 72,
      "start_physics_step": 12643
    },
    {
      "action_index": 142,
      "end_physics_step": 12803,
      "physics_steps": 88,
      "start_physics_step": 12715
    },
    {
      "action_index": 143,
      "end_physics_step": 12905,
      "physics_steps": 102,
      "start_physics_step": 12803
    },
    {
      "action_index": 144,
      "end_physics_step": 13019,
      "physics_steps": 114,
      "start_physics_step": 12905
    },
    {
      "action_index": 145,
      "end_physics_step": 13144,
      "physics_steps": 125,
      "start_physics_step": 13019
    },
    {
      "action_index": 146,
      "end_physics_step": 13277,
      "physics_steps": 133,
      "start_physics_step": 13144
    },
    {
      "action_index": 147,
      "end_physics_step": 13416,
      "physics_steps": 139,
      "start_physics_step": 13277
    },
    {
      "action_index": 148,
      "end_physics_step": 13562,
      "physics_steps": 146,
      "start_physics_step": 13416
    },
    {
      "action_index": 149,
      "end_physics_step": 13714,
      "physics_steps": 152,
      "start_physics_step": 13562
    },
    {
      "action_index": 150,
      "end_physics_step": 13870,
      "physics_steps": 156,
      "start_physics_step": 13714
    },
    {
      "action_index": 151,
      "end_physics_step": 14028,
      "physics_steps": 158,
      "start_physics_step": 13870
    },
    {
      "action_index": 152,
      "end_physics_step": 14187,
      "physics_steps": 159,
      "start_physics_step": 14028
    },
    {
      "action_index": 153,
      "end_physics_step": 14344,
      "physics_steps": 157,
      "start_physics_step": 14187
    },
    {
      "action_index": 154,
      "end_physics_step": 14498,
      "physics_steps": 154,
      "start_physics_step": 14344
    },
    {
      "action_index": 155,
      "end_physics_step": 14647,
      "physics_steps": 149,
      "start_physics_step": 14498
    },
    {
      "action_index": 156,
      "end_physics_step": 14790,
      "physics_steps": 143,
      "start_physics_step": 14647
    },
    {
      "action_index": 157,
      "end_physics_step": 14926,
      "physics_steps": 136,
      "start_physics_step": 14790
    },
    {
      "action_index": 158,
      "end_physics_step": 15053,
      "physics_steps": 127,
      "start_physics_step": 14926
    },
    {
      "action_index": 159,
      "end_physics_step": 15168,
      "physics_steps": 115,
      "start_physics_step": 15053
    },
    {
      "action_index": 160,
      "end_physics_step": 15214,
      "physics_steps": 46,
      "start_physics_step": 15168
    }
  ],
  "training_action_executor": "robotwin_take_action_qpos_topp_250hz_v1",
  "training_action_final_state": {
    "grippers": [
      0.0,
      0.0
    ],
    "object_position": [
      0.030493201687932014,
      -0.019293228164315224,
      0.9494183659553528
    ],
    "scanner_functional_point": [
      -0.02509381521352154,
      -0.014599116487477769,
      0.9314838534321692,
      0.49887011244851287,
      -0.48529207992081486,
      0.5754147579940704,
      -0.4295556592042092
    ]
  },
  "training_action_input_frames": 174,
  "training_action_interarm_contact_steps": 0,
  "training_action_minimum_capsule_distance_m": 0.18890832050523093,
  "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": 15214,
  "training_actions_executed": 161
}