iceGrey commited on
Commit
085b9fa
·
verified ·
1 Parent(s): e57ab2d

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/camera/metadata.json +59 -0
  2. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/camera/timestamp.pkl +0 -0
  3. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/debug/actions.jsonl +0 -0
  4. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/debug/async_events.jsonl +83 -0
  5. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/event/event_dict.pkl +0 -0
  6. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/action.json +29 -0
  7. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/camera.json +104 -0
  8. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/event.json +28 -0
  9. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/robot.json +37 -0
  10. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/tactile.json +1 -0
  11. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/workflow_manifest.json +612 -0
  12. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0002/workflow_manifest.json +613 -0
  13. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/camera/metadata.json +59 -0
  14. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/camera/timestamp.pkl +0 -0
  15. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/debug/actions.jsonl +0 -0
  16. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/debug/async_events.jsonl +81 -0
  17. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/event/event_dict.pkl +0 -0
  18. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/action.json +29 -0
  19. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/camera.json +104 -0
  20. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/event.json +28 -0
  21. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/robot.json +37 -0
  22. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/tactile.json +1 -0
  23. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/workflow_manifest.json +612 -0
  24. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/action/executed_action_dict.pkl +0 -0
  25. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/camera/metadata.json +59 -0
  26. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/camera/timestamp.pkl +0 -0
  27. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/debug/actions.jsonl +0 -0
  28. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/debug/async_events.jsonl +55 -0
  29. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/event/event_dict.pkl +0 -0
  30. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/action.json +28 -0
  31. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/camera.json +101 -0
  32. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/event.json +27 -0
  33. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/robot.json +36 -0
  34. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/tactile.json +1 -0
  35. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/workflow_manifest.json +613 -0
  36. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/camera/metadata.json +59 -0
  37. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/camera/timestamp.pkl +0 -0
  38. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/debug/actions.jsonl +0 -0
  39. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/debug/async_events.jsonl +145 -0
  40. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/event/event_dict.pkl +0 -0
  41. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/action.json +28 -0
  42. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/camera.json +101 -0
  43. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/event.json +27 -0
  44. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/robot.json +36 -0
  45. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/tactile.json +1 -0
  46. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/workflow_manifest.json +611 -0
  47. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0007/camera/metadata.json +59 -0
  48. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0007/camera/timestamp.pkl +0 -0
  49. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0007/debug/actions.jsonl +0 -0
  50. eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0007/debug/async_events.jsonl +118 -0
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/camera/metadata.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_0_rgb": {
3
+ "codec": "h264",
4
+ "container": "mp4",
5
+ "encoder": "libx264",
6
+ "encoding": "bgr8",
7
+ "frames": 706,
8
+ "height": 480,
9
+ "lossless": false,
10
+ "pixel_format": "yuv420p",
11
+ "quality": {
12
+ "mode": "crf",
13
+ "value": 14
14
+ },
15
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
16
+ "timestamps": "camera/timestamp.pkl::base_0",
17
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
18
+ "video": "camera/base_0_rgb.mp4",
19
+ "width": 640
20
+ },
21
+ "left_wrist_0_rgb": {
22
+ "codec": "h264",
23
+ "container": "mp4",
24
+ "encoder": "libx264",
25
+ "encoding": "bgr8",
26
+ "frames": 708,
27
+ "height": 480,
28
+ "lossless": false,
29
+ "pixel_format": "yuv420p",
30
+ "quality": {
31
+ "mode": "crf",
32
+ "value": 14
33
+ },
34
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
35
+ "timestamps": "camera/timestamp.pkl::left_wrist_0",
36
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
37
+ "video": "camera/left_wrist_0_rgb.mp4",
38
+ "width": 640
39
+ },
40
+ "right_wrist_0_rgb": {
41
+ "codec": "h264",
42
+ "container": "mp4",
43
+ "encoder": "libx264",
44
+ "encoding": "bgr8",
45
+ "frames": 710,
46
+ "height": 480,
47
+ "lossless": false,
48
+ "pixel_format": "yuv420p",
49
+ "quality": {
50
+ "mode": "crf",
51
+ "value": 14
52
+ },
53
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
54
+ "timestamps": "camera/timestamp.pkl::right_wrist_0",
55
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
56
+ "video": "camera/right_wrist_0_rgb.mp4",
57
+ "width": 640
58
+ }
59
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/camera/timestamp.pkl ADDED
Binary file (17.1 kB). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/debug/actions.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/debug/async_events.jsonl ADDED
@@ -0,0 +1,83 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"event": "prediction_requested", "time_ns": 1789661233530525637, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
2
+ {"event": "plan_adopted", "time_ns": 1789661233688708834, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 101.96388099575415, "blended_steps": 0}
3
+ {"event": "prediction_requested", "time_ns": 1789661234308569405, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
4
+ {"event": "plan_adopted", "time_ns": 1789661234411182684, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.71576898964122, "blended_steps": 5}
5
+ {"event": "prediction_requested", "time_ns": 1789661234856488710, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
6
+ {"event": "plan_adopted", "time_ns": 1789661234964949897, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.83711598138325, "blended_steps": 5}
7
+ {"event": "prediction_requested", "time_ns": 1789661235442681313, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
8
+ {"event": "plan_adopted", "time_ns": 1789661235547881438, "actions_sent": 54, "prediction": 3, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.82406901777722, "blended_steps": 5}
9
+ {"event": "prediction_requested", "time_ns": 1789661235989889073, "actions_sent": 67, "prediction": 4, "queue_remaining": 12}
10
+ {"event": "plan_adopted", "time_ns": 1789661236095785511, "actions_sent": 70, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.58275499637239, "blended_steps": 5}
11
+ {"event": "prediction_requested", "time_ns": 1789661236577295424, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
12
+ {"event": "plan_adopted", "time_ns": 1789661236685653484, "actions_sent": 87, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.38861898775212, "blended_steps": 5}
13
+ {"event": "prediction_requested", "time_ns": 1789661237132513169, "actions_sent": 100, "prediction": 6, "queue_remaining": 12}
14
+ {"event": "plan_adopted", "time_ns": 1789661237238906147, "actions_sent": 103, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.77022101404145, "blended_steps": 5}
15
+ {"event": "prediction_requested", "time_ns": 1789661237714966929, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
16
+ {"event": "plan_adopted", "time_ns": 1789661237819503457, "actions_sent": 120, "prediction": 7, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.69631898100488, "blended_steps": 5}
17
+ {"event": "prediction_requested", "time_ns": 1789661238264181105, "actions_sent": 133, "prediction": 8, "queue_remaining": 12}
18
+ {"event": "plan_adopted", "time_ns": 1789661238372600590, "actions_sent": 136, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.9306639994029, "blended_steps": 5}
19
+ {"event": "prediction_requested", "time_ns": 1789661238852223193, "actions_sent": 150, "prediction": 9, "queue_remaining": 12}
20
+ {"event": "plan_adopted", "time_ns": 1789661238956007703, "actions_sent": 153, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 114.63675799313933, "blended_steps": 5}
21
+ {"event": "prediction_requested", "time_ns": 1789661239428644804, "actions_sent": 167, "prediction": 10, "queue_remaining": 12}
22
+ {"event": "plan_adopted", "time_ns": 1789661239532946434, "actions_sent": 170, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.54134201491252, "blended_steps": 5}
23
+ {"event": "prediction_requested", "time_ns": 1789661240009176409, "actions_sent": 184, "prediction": 11, "queue_remaining": 12}
24
+ {"event": "plan_adopted", "time_ns": 1789661240114003792, "actions_sent": 187, "prediction": 11, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.64012799947523, "blended_steps": 5}
25
+ {"event": "prediction_requested", "time_ns": 1789661240551966154, "actions_sent": 200, "prediction": 12, "queue_remaining": 12}
26
+ {"event": "plan_adopted", "time_ns": 1789661240656211951, "actions_sent": 203, "prediction": 12, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.9885740079917, "blended_steps": 5}
27
+ {"event": "prediction_requested", "time_ns": 1789661241096517605, "actions_sent": 216, "prediction": 13, "queue_remaining": 12}
28
+ {"event": "plan_adopted", "time_ns": 1789661241203086245, "actions_sent": 219, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.96838699816726, "blended_steps": 5}
29
+ {"event": "prediction_requested", "time_ns": 1789661241677273295, "actions_sent": 233, "prediction": 14, "queue_remaining": 12}
30
+ {"event": "plan_adopted", "time_ns": 1789661241780865519, "actions_sent": 236, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 105.0055249943398, "blended_steps": 5}
31
+ {"event": "prediction_requested", "time_ns": 1789661242251643796, "actions_sent": 250, "prediction": 15, "queue_remaining": 12}
32
+ {"event": "plan_adopted", "time_ns": 1789661242355621779, "actions_sent": 253, "prediction": 15, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 148.4727990173269, "blended_steps": 5}
33
+ {"event": "prediction_requested", "time_ns": 1789661242798017430, "actions_sent": 266, "prediction": 16, "queue_remaining": 12}
34
+ {"event": "plan_adopted", "time_ns": 1789661242901687369, "actions_sent": 269, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.16580398753285, "blended_steps": 5}
35
+ {"event": "prediction_requested", "time_ns": 1789661243373360612, "actions_sent": 283, "prediction": 17, "queue_remaining": 12}
36
+ {"event": "plan_adopted", "time_ns": 1789661243477424602, "actions_sent": 286, "prediction": 17, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.8262570099905, "blended_steps": 5}
37
+ {"event": "prediction_requested", "time_ns": 1789661243916601182, "actions_sent": 299, "prediction": 18, "queue_remaining": 12}
38
+ {"event": "plan_adopted", "time_ns": 1789661244022058389, "actions_sent": 302, "prediction": 18, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.10658297128975, "blended_steps": 5}
39
+ {"event": "prediction_requested", "time_ns": 1789661244459002130, "actions_sent": 315, "prediction": 19, "queue_remaining": 12}
40
+ {"event": "plan_adopted", "time_ns": 1789661244564431795, "actions_sent": 318, "prediction": 19, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.81234800280072, "blended_steps": 5}
41
+ {"event": "prediction_requested", "time_ns": 1789661245042601086, "actions_sent": 332, "prediction": 20, "queue_remaining": 12}
42
+ {"event": "plan_adopted", "time_ns": 1789661245147763915, "actions_sent": 335, "prediction": 20, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.4227080193814, "blended_steps": 5}
43
+ {"event": "prediction_requested", "time_ns": 1789661245586489783, "actions_sent": 348, "prediction": 21, "queue_remaining": 12}
44
+ {"event": "plan_adopted", "time_ns": 1789661245689393189, "actions_sent": 351, "prediction": 21, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 148.46038102405146, "blended_steps": 5}
45
+ {"event": "prediction_requested", "time_ns": 1789661246126056746, "actions_sent": 364, "prediction": 22, "queue_remaining": 12}
46
+ {"event": "plan_adopted", "time_ns": 1789661246228240393, "actions_sent": 367, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.42980100866407, "blended_steps": 5}
47
+ {"event": "prediction_requested", "time_ns": 1789661246702018031, "actions_sent": 381, "prediction": 23, "queue_remaining": 12}
48
+ {"event": "plan_adopted", "time_ns": 1789661246815588927, "actions_sent": 384, "prediction": 23, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.76228099595755, "blended_steps": 5}
49
+ {"event": "prediction_requested", "time_ns": 1789661247260632254, "actions_sent": 397, "prediction": 24, "queue_remaining": 12}
50
+ {"event": "plan_adopted", "time_ns": 1789661247367167644, "actions_sent": 400, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.15253000613302, "blended_steps": 5}
51
+ {"event": "prediction_requested", "time_ns": 1789661247849133199, "actions_sent": 414, "prediction": 25, "queue_remaining": 12}
52
+ {"event": "plan_adopted", "time_ns": 1789661247957622795, "actions_sent": 417, "prediction": 25, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.1464699942153, "blended_steps": 5}
53
+ {"event": "prediction_requested", "time_ns": 1789661248437050621, "actions_sent": 431, "prediction": 26, "queue_remaining": 12}
54
+ {"event": "plan_adopted", "time_ns": 1789661248543008248, "actions_sent": 434, "prediction": 26, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.90530699305236, "blended_steps": 5}
55
+ {"event": "prediction_requested", "time_ns": 1789661249014356500, "actions_sent": 448, "prediction": 27, "queue_remaining": 12}
56
+ {"event": "plan_adopted", "time_ns": 1789661249116799933, "actions_sent": 451, "prediction": 27, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.50158401369117, "blended_steps": 5}
57
+ {"event": "prediction_requested", "time_ns": 1789661249559560240, "actions_sent": 464, "prediction": 28, "queue_remaining": 12}
58
+ {"event": "plan_adopted", "time_ns": 1789661249663285388, "actions_sent": 467, "prediction": 28, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.76822801423259, "blended_steps": 5}
59
+ {"event": "prediction_requested", "time_ns": 1789661250136266144, "actions_sent": 481, "prediction": 29, "queue_remaining": 12}
60
+ {"event": "plan_adopted", "time_ns": 1789661250246308347, "actions_sent": 484, "prediction": 29, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.2756889781449, "blended_steps": 5}
61
+ {"event": "prediction_requested", "time_ns": 1789661250723682809, "actions_sent": 498, "prediction": 30, "queue_remaining": 12}
62
+ {"event": "plan_adopted", "time_ns": 1789661250825399943, "actions_sent": 501, "prediction": 30, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.9716920228675, "blended_steps": 5}
63
+ {"event": "prediction_requested", "time_ns": 1789661251299166388, "actions_sent": 515, "prediction": 31, "queue_remaining": 12}
64
+ {"event": "plan_adopted", "time_ns": 1789661251406953958, "actions_sent": 518, "prediction": 31, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.79467899235897, "blended_steps": 5}
65
+ {"event": "prediction_requested", "time_ns": 1789661251886468390, "actions_sent": 532, "prediction": 32, "queue_remaining": 12}
66
+ {"event": "plan_adopted", "time_ns": 1789661251990462048, "actions_sent": 535, "prediction": 32, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.85568999266252, "blended_steps": 5}
67
+ {"event": "prediction_requested", "time_ns": 1789661252429836870, "actions_sent": 548, "prediction": 33, "queue_remaining": 12}
68
+ {"event": "plan_adopted", "time_ns": 1789661252534976347, "actions_sent": 551, "prediction": 33, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.63108900212683, "blended_steps": 5}
69
+ {"event": "prediction_requested", "time_ns": 1789661253017091732, "actions_sent": 565, "prediction": 34, "queue_remaining": 12}
70
+ {"event": "plan_adopted", "time_ns": 1789661253124024920, "actions_sent": 568, "prediction": 34, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.68236700911075, "blended_steps": 5}
71
+ {"event": "prediction_requested", "time_ns": 1789661253566733732, "actions_sent": 581, "prediction": 35, "queue_remaining": 12}
72
+ {"event": "plan_adopted", "time_ns": 1789661253675899733, "actions_sent": 584, "prediction": 35, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.97352100117132, "blended_steps": 5}
73
+ {"event": "prediction_requested", "time_ns": 1789661254151508610, "actions_sent": 598, "prediction": 36, "queue_remaining": 12}
74
+ {"event": "plan_adopted", "time_ns": 1789661254258151468, "actions_sent": 601, "prediction": 36, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.19755099900067, "blended_steps": 5}
75
+ {"event": "prediction_requested", "time_ns": 1789661254698128836, "actions_sent": 614, "prediction": 37, "queue_remaining": 12}
76
+ {"event": "plan_adopted", "time_ns": 1789661254802125020, "actions_sent": 617, "prediction": 37, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.11032298021019, "blended_steps": 5}
77
+ {"event": "prediction_requested", "time_ns": 1789661255284256047, "actions_sent": 631, "prediction": 38, "queue_remaining": 12}
78
+ {"event": "plan_adopted", "time_ns": 1789661255391306406, "actions_sent": 634, "prediction": 38, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.5193040049635, "blended_steps": 5}
79
+ {"event": "prediction_requested", "time_ns": 1789661255828411980, "actions_sent": 647, "prediction": 39, "queue_remaining": 12}
80
+ {"event": "plan_adopted", "time_ns": 1789661255934147086, "actions_sent": 650, "prediction": 39, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.4468650072813, "blended_steps": 5}
81
+ {"event": "prediction_requested", "time_ns": 1789661256403972340, "actions_sent": 664, "prediction": 40, "queue_remaining": 12}
82
+ {"event": "plan_adopted", "time_ns": 1789661256509413540, "actions_sent": 667, "prediction": 40, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.85505297547206, "blended_steps": 5}
83
+ {"event": "operator_stopped", "time_ns": 1789661256871469367, "actions_sent": 678, "result": "success"}
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/event/event_dict.pkl ADDED
Binary file (109 Bytes). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/action.json ADDED
@@ -0,0 +1,29 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_action_recorder": {
3
+ "counts": {
4
+ "action.executed": 678,
5
+ "camera.base_0_rgb": 706,
6
+ "camera.left_wrist_0_rgb": 708,
7
+ "camera.right_wrist_0_rgb": 710,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 5742,
11
+ "robot.robot_state": 2939
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0001",
14
+ "executed_actions": 678,
15
+ "failure": "",
16
+ "metadata": {
17
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
18
+ "round_number": 1,
19
+ "run_id": "20260918_000706_303443_round_0001",
20
+ "workflow": "openpi_rollout"
21
+ },
22
+ "policy_action_chunks": 0,
23
+ "record_id": "prometheus_action_recorder",
24
+ "record_mode": "action",
25
+ "schema": "prometheus_raw_episode_v1",
26
+ "status": "saved",
27
+ "updated_at_unix": 1789661256.9963896
28
+ }
29
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/camera.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_camera_base_0_recorder": {
3
+ "camera_frames": {
4
+ "base_0_rgb": 706
5
+ },
6
+ "camera_timestamp_samples": 706,
7
+ "complete_sensor_bundles": 706,
8
+ "counts": {
9
+ "action.executed": 678,
10
+ "camera.base_0_rgb": 706,
11
+ "camera.left_wrist_0_rgb": 708,
12
+ "camera.right_wrist_0_rgb": 710,
13
+ "dropped": 0,
14
+ "event.workflow": 1,
15
+ "items": 5742,
16
+ "robot.robot_state": 2939
17
+ },
18
+ "dropped_incomplete_sensor_bundles": 0,
19
+ "duplicate_sensor_messages": 0,
20
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0001",
21
+ "failure": "",
22
+ "metadata": {
23
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
24
+ "round_number": 1,
25
+ "run_id": "20260918_000706_303443_round_0001",
26
+ "workflow": "openpi_rollout"
27
+ },
28
+ "record_id": "prometheus_camera_base_0_recorder",
29
+ "record_mode": "sensor",
30
+ "schema": "prometheus_raw_episode_v1",
31
+ "sensor_kind": "camera",
32
+ "sensor_name": "base_0",
33
+ "status": "saved",
34
+ "updated_at_unix": 1789661256.9963896
35
+ },
36
+ "prometheus_camera_left_wrist_0_recorder": {
37
+ "camera_frames": {
38
+ "left_wrist_0_rgb": 708
39
+ },
40
+ "camera_timestamp_samples": 708,
41
+ "complete_sensor_bundles": 708,
42
+ "counts": {
43
+ "action.executed": 678,
44
+ "camera.base_0_rgb": 706,
45
+ "camera.left_wrist_0_rgb": 708,
46
+ "camera.right_wrist_0_rgb": 710,
47
+ "dropped": 0,
48
+ "event.workflow": 1,
49
+ "items": 5742,
50
+ "robot.robot_state": 2939
51
+ },
52
+ "dropped_incomplete_sensor_bundles": 0,
53
+ "duplicate_sensor_messages": 0,
54
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0001",
55
+ "failure": "",
56
+ "metadata": {
57
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
58
+ "round_number": 1,
59
+ "run_id": "20260918_000706_303443_round_0001",
60
+ "workflow": "openpi_rollout"
61
+ },
62
+ "record_id": "prometheus_camera_left_wrist_0_recorder",
63
+ "record_mode": "sensor",
64
+ "schema": "prometheus_raw_episode_v1",
65
+ "sensor_kind": "camera",
66
+ "sensor_name": "left_wrist_0",
67
+ "status": "saved",
68
+ "updated_at_unix": 1789661256.9963896
69
+ },
70
+ "prometheus_camera_right_wrist_0_recorder": {
71
+ "camera_frames": {
72
+ "right_wrist_0_rgb": 710
73
+ },
74
+ "camera_timestamp_samples": 710,
75
+ "complete_sensor_bundles": 710,
76
+ "counts": {
77
+ "action.executed": 678,
78
+ "camera.base_0_rgb": 706,
79
+ "camera.left_wrist_0_rgb": 708,
80
+ "camera.right_wrist_0_rgb": 710,
81
+ "dropped": 0,
82
+ "event.workflow": 1,
83
+ "items": 5742,
84
+ "robot.robot_state": 2939
85
+ },
86
+ "dropped_incomplete_sensor_bundles": 0,
87
+ "duplicate_sensor_messages": 0,
88
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0001",
89
+ "failure": "",
90
+ "metadata": {
91
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
92
+ "round_number": 1,
93
+ "run_id": "20260918_000706_303443_round_0001",
94
+ "workflow": "openpi_rollout"
95
+ },
96
+ "record_id": "prometheus_camera_right_wrist_0_recorder",
97
+ "record_mode": "sensor",
98
+ "schema": "prometheus_raw_episode_v1",
99
+ "sensor_kind": "camera",
100
+ "sensor_name": "right_wrist_0",
101
+ "status": "saved",
102
+ "updated_at_unix": 1789661256.9963896
103
+ }
104
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/event.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_event_recorder": {
3
+ "counts": {
4
+ "action.executed": 678,
5
+ "camera.base_0_rgb": 706,
6
+ "camera.left_wrist_0_rgb": 708,
7
+ "camera.right_wrist_0_rgb": 710,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 5742,
11
+ "robot.robot_state": 2939
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0001",
14
+ "event_samples": 1,
15
+ "failure": "",
16
+ "metadata": {
17
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
18
+ "round_number": 1,
19
+ "run_id": "20260918_000706_303443_round_0001",
20
+ "workflow": "openpi_rollout"
21
+ },
22
+ "record_id": "prometheus_event_recorder",
23
+ "record_mode": "event",
24
+ "schema": "prometheus_raw_episode_v1",
25
+ "status": "saved",
26
+ "updated_at_unix": 1789661256.9963896
27
+ }
28
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/robot.json ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_robot_recorder": {
3
+ "counts": {
4
+ "action.executed": 678,
5
+ "camera.base_0_rgb": 706,
6
+ "camera.left_wrist_0_rgb": 708,
7
+ "camera.right_wrist_0_rgb": 710,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 5742,
11
+ "robot.robot_state": 2939
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0001",
14
+ "failure": "",
15
+ "incomplete_robot_samples": {
16
+ "left": 2939,
17
+ "right": 2939
18
+ },
19
+ "metadata": {
20
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
21
+ "round_number": 1,
22
+ "run_id": "20260918_000706_303443_round_0001",
23
+ "workflow": "openpi_rollout"
24
+ },
25
+ "pending_robot_samples": 0,
26
+ "plot_outputs": [],
27
+ "record_id": "prometheus_robot_recorder",
28
+ "record_mode": "robot",
29
+ "robot_samples": {
30
+ "left": 2939,
31
+ "right": 2939
32
+ },
33
+ "schema": "prometheus_raw_episode_v1",
34
+ "status": "saved",
35
+ "updated_at_unix": 1789661256.9963896
36
+ }
37
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/manifests/tactile.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {}
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0001/workflow_manifest.json ADDED
@@ -0,0 +1,612 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "acceleration_limits": [
3
+ 118.7426430016755,
4
+ 165.012131490699,
5
+ 134.04180689399348,
6
+ 274.86399842805685,
7
+ 195.25766555964873,
8
+ 454.5340796113012,
9
+ 109.40927818565227,
10
+ 178.49339036295515,
11
+ 476.6444930964641,
12
+ 557.9080874526715,
13
+ 587.1810202100611,
14
+ 362.1711802492357,
15
+ 208.8803265352197,
16
+ 208.9010343469399
17
+ ],
18
+ "actions_sent": 678,
19
+ "async_execution": {
20
+ "blend_steps": 5,
21
+ "chunk_counter_meaning": "completed groups of 30 acknowledged targets",
22
+ "expired_prefix_actions": 177,
23
+ "mode": "async_overlap",
24
+ "plans_adopted": 41,
25
+ "prediction_horizon": 30,
26
+ "predictions_requested": 41,
27
+ "prefetch_steps": 12,
28
+ "queue_underruns": 0,
29
+ "target_budget": 1200
30
+ },
31
+ "chunks": 22,
32
+ "command_velocity_limits": [
33
+ 7.326937734087213,
34
+ 7.492612143357643,
35
+ 9.039960411055707,
36
+ 10.989442599937178,
37
+ 11.822247140410347,
38
+ 21.729793477053846,
39
+ 4.549583926449072,
40
+ 9.542591565847905,
41
+ 16.49783855493206,
42
+ 19.18122166486826,
43
+ 20.271305218109156,
44
+ 13.274309575261345,
45
+ 14.009155302643812,
46
+ 4.764187300355128
47
+ ],
48
+ "config": {
49
+ "async_inference": {
50
+ "blend_steps": 5,
51
+ "enabled": true,
52
+ "prefetch_steps": 12
53
+ },
54
+ "data": {
55
+ "bridge": {
56
+ "enabled": true,
57
+ "name": "openpi_observe_20260918_000706_303443",
58
+ "qos_depth": 10,
59
+ "sensor_qos": "reliable",
60
+ "stamp_source": "header",
61
+ "wait_all_streams": true
62
+ },
63
+ "history": 64,
64
+ "mode": "owned",
65
+ "name": "openpi_data",
66
+ "numpy": {
67
+ "enabled": true
68
+ },
69
+ "recording": {
70
+ "camera_encoder": "libx264",
71
+ "default_event_value": null,
72
+ "enable_plots": false,
73
+ "enabled": true,
74
+ "fps": 30.0,
75
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data",
76
+ "queue_size": 4096
77
+ },
78
+ "streams": {
79
+ "base_0_color": {
80
+ "domain": "sensor",
81
+ "msg_type": "sensor_msgs.msg.Image",
82
+ "ros_domain_id": 22,
83
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
84
+ },
85
+ "left_wrist_0_color": {
86
+ "domain": "sensor",
87
+ "msg_type": "sensor_msgs.msg.Image",
88
+ "ros_domain_id": 22,
89
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
90
+ },
91
+ "right_wrist_0_color": {
92
+ "domain": "sensor",
93
+ "msg_type": "sensor_msgs.msg.Image",
94
+ "ros_domain_id": 22,
95
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
96
+ },
97
+ "robot_state": {
98
+ "domain": "robot",
99
+ "msg_type": "sensor_msgs.msg.JointState",
100
+ "ros_domain_id": 21,
101
+ "topic": "/prometheus/robots/yam/state"
102
+ }
103
+ }
104
+ },
105
+ "execute": true,
106
+ "execution": {
107
+ "command_ack_timeout_s": 0.1,
108
+ "hold_settle_s": 0.2,
109
+ "hold_settle_timeout_s": 5.0,
110
+ "max_prediction_age_s": 0.5,
111
+ "max_schedule_lateness_s": 0.105
112
+ },
113
+ "hardware": {
114
+ "mode": "owned",
115
+ "name": "openpi_hardware",
116
+ "sensors": "auto",
117
+ "streams": "auto"
118
+ },
119
+ "policy": {
120
+ "action_hz": 30.0,
121
+ "connect_timeout_s": 10.0,
122
+ "host": "127.0.0.1",
123
+ "max_observation_age_s": 0.5,
124
+ "observation_wait_timeout_s": 1.0,
125
+ "port": 8000,
126
+ "prompt": "Pick up the banana with the right arm, hand it over to the left arm, and place it on the plate.",
127
+ "response_timeout_s": 120.0,
128
+ "slop_ms": 20.0
129
+ },
130
+ "preview": {
131
+ "enabled": true,
132
+ "fps": 20.0,
133
+ "height": 720,
134
+ "host": "127.0.0.1",
135
+ "mode": "local",
136
+ "port": 7860,
137
+ "refresh_ms": 100,
138
+ "stale_timeout_s": 1.0,
139
+ "ui_mode": "openpi",
140
+ "width": 1280,
141
+ "window": "Pi0.5 - Async execution"
142
+ },
143
+ "robot": {
144
+ "_target_": "prometheus.nodes.robots.yam.resolve_robot",
145
+ "cameras": {
146
+ "camera_info": false,
147
+ "capture_height": 480,
148
+ "capture_hz": 30,
149
+ "capture_width": 640,
150
+ "collect_ir": false,
151
+ "ir": false,
152
+ "prepub_resize": 1.0,
153
+ "publish_hz": 30,
154
+ "qos": "reliable",
155
+ "serial_no": {
156
+ "base_0": "260322272085",
157
+ "left_wrist_0": "260422275825",
158
+ "right_wrist_0": "260322279382"
159
+ }
160
+ },
161
+ "collection_input_source": "pedal,tty",
162
+ "collection_pedal": {
163
+ "confirm_presses": 2,
164
+ "confirm_window_s": 1.0,
165
+ "debounce_s": 0.05,
166
+ "devices": [
167
+ "/dev/input/prometheus-pedal",
168
+ "/dev/input/prometheus-pedal-aux"
169
+ ],
170
+ "exclusive": true,
171
+ "pedal_map": {
172
+ "2": 0,
173
+ "3": 1,
174
+ "4": 2,
175
+ "5": 3,
176
+ "30": 0,
177
+ "32": 3,
178
+ "46": 2,
179
+ "48": 1
180
+ }
181
+ },
182
+ "control_domain_id": 21,
183
+ "id": "yam",
184
+ "robot": {
185
+ "action_space": "abs_qpos",
186
+ "alignment_duration_s": 3.0,
187
+ "bilateral_kp": 0.0,
188
+ "collection_mode": "policy",
189
+ "control_hz": 120,
190
+ "enable_auto_recovery": false,
191
+ "follower_arm": "yam_ultra",
192
+ "follower_can": {
193
+ "left": "can_follower_l",
194
+ "right": "can_follower_r"
195
+ },
196
+ "follower_gripper": "linear_4310",
197
+ "gripper_width_m": 0.096,
198
+ "home_return": {
199
+ "enabled": false,
200
+ "feedback_timeout_s": 0.5,
201
+ "kp_scale": 1.0,
202
+ "max_velocity": 0.3,
203
+ "min_duration_s": 3.0,
204
+ "position_tolerance": 0.05,
205
+ "settle_s": 0.3,
206
+ "timeout_s": 25.0,
207
+ "tracking_error_limit": 0.35,
208
+ "velocity_tolerance": 0.1
209
+ },
210
+ "leader_arm": "yam",
211
+ "leader_can": null,
212
+ "leader_gripper": "yam_teaching_handle",
213
+ "policy_control": {
214
+ "acceleration_limits": [
215
+ 118.7426430016755,
216
+ 165.012131490699,
217
+ 134.04180689399348,
218
+ 274.86399842805685,
219
+ 195.25766555964873,
220
+ 454.5340796113012,
221
+ 109.40927818565227,
222
+ 178.49339036295515,
223
+ 476.6444930964641,
224
+ 557.9080874526715,
225
+ 587.1810202100611,
226
+ 362.1711802492357,
227
+ 208.8803265352197,
228
+ 208.9010343469399
229
+ ],
230
+ "command_timeout_s": 0.25,
231
+ "command_velocity_limits": [
232
+ 7.326937734087213,
233
+ 7.492612143357643,
234
+ 9.039960411055707,
235
+ 10.989442599937178,
236
+ 11.822247140410347,
237
+ 21.729793477053846,
238
+ 4.549583926449072,
239
+ 9.542591565847905,
240
+ 16.49783855493206,
241
+ 19.18122166486826,
242
+ 20.271305218109156,
243
+ 13.274309575261345,
244
+ 14.009155302643812,
245
+ 4.764187300355128
246
+ ],
247
+ "feedback_timeout_s": 0.2,
248
+ "hz": 30.0,
249
+ "stationary_velocity_limits": [
250
+ 0.09619047798216343,
251
+ 0.09619047798216343,
252
+ 0.09125763334333897,
253
+ 0.09619047798216343,
254
+ 0.11098901189863682,
255
+ 0.18498168900609016,
256
+ 0.014679903751239181,
257
+ 0.10112332262098789,
258
+ 0.11098901189863682,
259
+ 0.10112332262098789,
260
+ 0.11098901189863682,
261
+ 0.14058608725667,
262
+ 0.2885714414715767,
263
+ 0.014345181323587895
264
+ ],
265
+ "stop_file": "/tmp/prometheus_openpi/STOP",
266
+ "tracking_error_limits": [
267
+ 0.20073625504970552,
268
+ 0.309388148188591,
269
+ 0.29782940477132797,
270
+ 0.22655070275068284,
271
+ 0.5001068050414323,
272
+ 0.7771305423974991,
273
+ 0.06952205713838339,
274
+ 0.268162048868835,
275
+ 0.3556229412555695,
276
+ 0.4542571985721588,
277
+ 0.3109293460845947,
278
+ 1.0653276860713958,
279
+ 0.45733958966098726,
280
+ 0.07211417473852634
281
+ ],
282
+ "urdf": "/home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf",
283
+ "velocity_limits": [
284
+ 6.503956017494202,
285
+ 7.554651925563812,
286
+ 9.670842275619506,
287
+ 10.588351378440857,
288
+ 8.72373610496521,
289
+ 13.252087483406067,
290
+ 1.2993822544813156,
291
+ 8.664541969299316,
292
+ 10.73633671760559,
293
+ 14.77633719921112,
294
+ 17.380879168510436,
295
+ 20.799341225624083,
296
+ 7.747032866477967,
297
+ 1.3316887146234513
298
+ ]
299
+ },
300
+ "require_enable_button": false,
301
+ "sim": false,
302
+ "state_publish_hz": 120,
303
+ "teleoperation_enabled": false
304
+ },
305
+ "sensor_domain_id": 22
306
+ },
307
+ "ros": {
308
+ "localhost_only": true
309
+ },
310
+ "run": {
311
+ "action_steps": 30,
312
+ "id": "20260918_000706_303443_round_0001",
313
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0001",
314
+ "runtime_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime",
315
+ "steps": 40,
316
+ "wait_ready_timeout_s": 30.0
317
+ }
318
+ },
319
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0001",
320
+ "next_round_confirmed": true,
321
+ "operator_command_file": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime/operator_command",
322
+ "operator_drag_verified": true,
323
+ "operator_result": "success",
324
+ "operator_stopped": true,
325
+ "policy_control_limits": {
326
+ "acceleration_limits": [
327
+ 118.7426430016755,
328
+ 165.012131490699,
329
+ 134.04180689399348,
330
+ 274.86399842805685,
331
+ 195.25766555964873,
332
+ 454.5340796113012,
333
+ 109.40927818565227,
334
+ 178.49339036295515,
335
+ 476.6444930964641,
336
+ 557.9080874526715,
337
+ 587.1810202100611,
338
+ 362.1711802492357,
339
+ 208.8803265352197,
340
+ 208.9010343469399
341
+ ],
342
+ "armed": false,
343
+ "command_guard_failure": null,
344
+ "command_velocity_limits": [
345
+ 7.326937734087213,
346
+ 7.492612143357643,
347
+ 9.039960411055707,
348
+ 10.989442599937178,
349
+ 11.822247140410347,
350
+ 21.729793477053846,
351
+ 4.549583926449072,
352
+ 9.542591565847905,
353
+ 16.49783855493206,
354
+ 19.18122166486826,
355
+ 20.271305218109156,
356
+ 13.274309575261345,
357
+ 14.009155302643812,
358
+ 4.764187300355128
359
+ ],
360
+ "dragging": false,
361
+ "fault": null,
362
+ "holding": false,
363
+ "policy_finished": false,
364
+ "position_guard_failure": null,
365
+ "position_limit_source": "sdk",
366
+ "position_limits": [
367
+ [
368
+ -2.7679899999999997,
369
+ 3.29159
370
+ ],
371
+ [
372
+ -0.15,
373
+ 3.81519
374
+ ],
375
+ [
376
+ -0.15,
377
+ 3.29159
378
+ ],
379
+ [
380
+ -1.84297,
381
+ 1.7207999999999999
382
+ ],
383
+ [
384
+ -1.7207999999999999,
385
+ 1.7207999999999999
386
+ ],
387
+ [
388
+ -2.2443999999999997,
389
+ 2.2443999999999997
390
+ ],
391
+ [
392
+ 0.0,
393
+ 0.096
394
+ ],
395
+ [
396
+ -2.7679899999999997,
397
+ 3.29159
398
+ ],
399
+ [
400
+ -0.15,
401
+ 3.81519
402
+ ],
403
+ [
404
+ -0.15,
405
+ 3.29159
406
+ ],
407
+ [
408
+ -1.84297,
409
+ 1.7207999999999999
410
+ ],
411
+ [
412
+ -1.7207999999999999,
413
+ 1.7207999999999999
414
+ ],
415
+ [
416
+ -2.2443999999999997,
417
+ 2.2443999999999997
418
+ ],
419
+ [
420
+ 0.0,
421
+ 0.096
422
+ ]
423
+ ],
424
+ "stationary_velocity_limits": [
425
+ 0.09619047798216343,
426
+ 0.09619047798216343,
427
+ 0.09125763334333897,
428
+ 0.09619047798216343,
429
+ 0.11098901189863682,
430
+ 0.18498168900609016,
431
+ 0.014679903751239181,
432
+ 0.10112332262098789,
433
+ 0.11098901189863682,
434
+ 0.10112332262098789,
435
+ 0.11098901189863682,
436
+ 0.14058608725667,
437
+ 0.2885714414715767,
438
+ 0.014345181323587895
439
+ ],
440
+ "stop_file": "/tmp/prometheus_openpi/STOP",
441
+ "tracking_error_limits": [
442
+ 0.20073625504970552,
443
+ 0.309388148188591,
444
+ 0.29782940477132797,
445
+ 0.22655070275068284,
446
+ 0.5001068050414323,
447
+ 0.7771305423974991,
448
+ 0.06952205713838339,
449
+ 0.268162048868835,
450
+ 0.3556229412555695,
451
+ 0.4542571985721588,
452
+ 0.3109293460845947,
453
+ 1.0653276860713958,
454
+ 0.45733958966098726,
455
+ 0.07211417473852634
456
+ ],
457
+ "velocity_limits": [
458
+ 6.503956017494202,
459
+ 7.554651925563812,
460
+ 9.670842275619506,
461
+ 10.588351378440857,
462
+ 8.72373610496521,
463
+ 13.252087483406067,
464
+ 1.2993822544813156,
465
+ 8.664541969299316,
466
+ 10.73633671760559,
467
+ 14.77633719921112,
468
+ 17.380879168510436,
469
+ 20.799341225624083,
470
+ 7.747032866477967,
471
+ 1.3316887146234513
472
+ ]
473
+ },
474
+ "position_limit_source": "sdk",
475
+ "position_limits": [
476
+ [
477
+ -2.7679899999999997,
478
+ 3.29159
479
+ ],
480
+ [
481
+ -0.15,
482
+ 3.81519
483
+ ],
484
+ [
485
+ -0.15,
486
+ 3.29159
487
+ ],
488
+ [
489
+ -1.84297,
490
+ 1.7207999999999999
491
+ ],
492
+ [
493
+ -1.7207999999999999,
494
+ 1.7207999999999999
495
+ ],
496
+ [
497
+ -2.2443999999999997,
498
+ 2.2443999999999997
499
+ ],
500
+ [
501
+ 0.0,
502
+ 0.096
503
+ ],
504
+ [
505
+ -2.7679899999999997,
506
+ 3.29159
507
+ ],
508
+ [
509
+ -0.15,
510
+ 3.81519
511
+ ],
512
+ [
513
+ -0.15,
514
+ 3.29159
515
+ ],
516
+ [
517
+ -1.84297,
518
+ 1.7207999999999999
519
+ ],
520
+ [
521
+ -1.7207999999999999,
522
+ 1.7207999999999999
523
+ ],
524
+ [
525
+ -2.2443999999999997,
526
+ 2.2443999999999997
527
+ ],
528
+ [
529
+ 0.0,
530
+ 0.096
531
+ ]
532
+ ],
533
+ "recording": {
534
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0001",
535
+ "failure": "",
536
+ "paused": false,
537
+ "queue_size": 0,
538
+ "queues": {
539
+ "action": 0,
540
+ "camera:base_0": 0,
541
+ "camera:left_wrist_0": 0,
542
+ "camera:right_wrist_0": 0,
543
+ "event": 0,
544
+ "robot": 0
545
+ },
546
+ "record_counts": {
547
+ "action.executed": 678,
548
+ "camera.base_0_rgb": 706,
549
+ "camera.left_wrist_0_rgb": 708,
550
+ "camera.right_wrist_0_rgb": 710,
551
+ "dropped": 0,
552
+ "event.workflow": 1,
553
+ "items": 5742,
554
+ "robot.robot_state": 2939
555
+ },
556
+ "recording": false,
557
+ "recording_enabled": true
558
+ },
559
+ "reviewed_at_ns": 1789661256867484706,
560
+ "round_number": 1,
561
+ "stationary_velocity_limits": [
562
+ 0.09619047798216343,
563
+ 0.09619047798216343,
564
+ 0.09125763334333897,
565
+ 0.09619047798216343,
566
+ 0.11098901189863682,
567
+ 0.18498168900609016,
568
+ 0.014679903751239181,
569
+ 0.10112332262098789,
570
+ 0.11098901189863682,
571
+ 0.10112332262098789,
572
+ 0.11098901189863682,
573
+ 0.14058608725667,
574
+ 0.2885714414715767,
575
+ 0.014345181323587895
576
+ ],
577
+ "status": "completed",
578
+ "task_success": true,
579
+ "termination_reason": "operator_review",
580
+ "tracking_error_limits": [
581
+ 0.20073625504970552,
582
+ 0.309388148188591,
583
+ 0.29782940477132797,
584
+ 0.22655070275068284,
585
+ 0.5001068050414323,
586
+ 0.7771305423974991,
587
+ 0.06952205713838339,
588
+ 0.268162048868835,
589
+ 0.3556229412555695,
590
+ 0.4542571985721588,
591
+ 0.3109293460845947,
592
+ 1.0653276860713958,
593
+ 0.45733958966098726,
594
+ 0.07211417473852634
595
+ ],
596
+ "velocity_limits": [
597
+ 6.503956017494202,
598
+ 7.554651925563812,
599
+ 9.670842275619506,
600
+ 10.588351378440857,
601
+ 8.72373610496521,
602
+ 13.252087483406067,
603
+ 1.2993822544813156,
604
+ 8.664541969299316,
605
+ 10.73633671760559,
606
+ 14.77633719921112,
607
+ 17.380879168510436,
608
+ 20.799341225624083,
609
+ 7.747032866477967,
610
+ 1.3316887146234513
611
+ ]
612
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0002/workflow_manifest.json ADDED
@@ -0,0 +1,613 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "acceleration_limits": [
3
+ 118.7426430016755,
4
+ 165.012131490699,
5
+ 134.04180689399348,
6
+ 274.86399842805685,
7
+ 195.25766555964873,
8
+ 454.5340796113012,
9
+ 109.40927818565227,
10
+ 178.49339036295515,
11
+ 476.6444930964641,
12
+ 557.9080874526715,
13
+ 587.1810202100611,
14
+ 362.1711802492357,
15
+ 208.8803265352197,
16
+ 208.9010343469399
17
+ ],
18
+ "actions_sent": 908,
19
+ "async_execution": {
20
+ "blend_steps": 5,
21
+ "chunk_counter_meaning": "completed groups of 30 acknowledged targets",
22
+ "expired_prefix_actions": 237,
23
+ "mode": "async_overlap",
24
+ "plans_adopted": 55,
25
+ "prediction_horizon": 30,
26
+ "predictions_requested": 55,
27
+ "prefetch_steps": 12,
28
+ "queue_underruns": 0,
29
+ "target_budget": 1200
30
+ },
31
+ "chunks": 30,
32
+ "command_velocity_limits": [
33
+ 7.326937734087213,
34
+ 7.492612143357643,
35
+ 9.039960411055707,
36
+ 10.989442599937178,
37
+ 11.822247140410347,
38
+ 21.729793477053846,
39
+ 4.549583926449072,
40
+ 9.542591565847905,
41
+ 16.49783855493206,
42
+ 19.18122166486826,
43
+ 20.271305218109156,
44
+ 13.274309575261345,
45
+ 14.009155302643812,
46
+ 4.764187300355128
47
+ ],
48
+ "config": {
49
+ "async_inference": {
50
+ "blend_steps": 5,
51
+ "enabled": true,
52
+ "prefetch_steps": 12
53
+ },
54
+ "data": {
55
+ "bridge": {
56
+ "enabled": true,
57
+ "name": "openpi_observe_20260918_000706_303443",
58
+ "qos_depth": 10,
59
+ "sensor_qos": "reliable",
60
+ "stamp_source": "header",
61
+ "wait_all_streams": true
62
+ },
63
+ "history": 64,
64
+ "mode": "owned",
65
+ "name": "openpi_data",
66
+ "numpy": {
67
+ "enabled": true
68
+ },
69
+ "recording": {
70
+ "camera_encoder": "libx264",
71
+ "default_event_value": null,
72
+ "enable_plots": false,
73
+ "enabled": true,
74
+ "fps": 30.0,
75
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data",
76
+ "queue_size": 4096
77
+ },
78
+ "streams": {
79
+ "base_0_color": {
80
+ "domain": "sensor",
81
+ "msg_type": "sensor_msgs.msg.Image",
82
+ "ros_domain_id": 22,
83
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
84
+ },
85
+ "left_wrist_0_color": {
86
+ "domain": "sensor",
87
+ "msg_type": "sensor_msgs.msg.Image",
88
+ "ros_domain_id": 22,
89
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
90
+ },
91
+ "right_wrist_0_color": {
92
+ "domain": "sensor",
93
+ "msg_type": "sensor_msgs.msg.Image",
94
+ "ros_domain_id": 22,
95
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
96
+ },
97
+ "robot_state": {
98
+ "domain": "robot",
99
+ "msg_type": "sensor_msgs.msg.JointState",
100
+ "ros_domain_id": 21,
101
+ "topic": "/prometheus/robots/yam/state"
102
+ }
103
+ }
104
+ },
105
+ "execute": true,
106
+ "execution": {
107
+ "command_ack_timeout_s": 0.1,
108
+ "hold_settle_s": 0.2,
109
+ "hold_settle_timeout_s": 5.0,
110
+ "max_prediction_age_s": 0.5,
111
+ "max_schedule_lateness_s": 0.105
112
+ },
113
+ "hardware": {
114
+ "mode": "owned",
115
+ "name": "openpi_hardware",
116
+ "sensors": "auto",
117
+ "streams": "auto"
118
+ },
119
+ "policy": {
120
+ "action_hz": 30.0,
121
+ "connect_timeout_s": 10.0,
122
+ "host": "127.0.0.1",
123
+ "max_observation_age_s": 0.5,
124
+ "observation_wait_timeout_s": 1.0,
125
+ "port": 8000,
126
+ "prompt": "Pick up the banana with the right arm, hand it over to the left arm, and place it on the plate.",
127
+ "response_timeout_s": 120.0,
128
+ "slop_ms": 20.0
129
+ },
130
+ "preview": {
131
+ "enabled": true,
132
+ "fps": 20.0,
133
+ "height": 720,
134
+ "host": "127.0.0.1",
135
+ "mode": "local",
136
+ "port": 7860,
137
+ "refresh_ms": 100,
138
+ "stale_timeout_s": 1.0,
139
+ "ui_mode": "openpi",
140
+ "width": 1280,
141
+ "window": "Pi0.5 - Async execution"
142
+ },
143
+ "robot": {
144
+ "_target_": "prometheus.nodes.robots.yam.resolve_robot",
145
+ "cameras": {
146
+ "camera_info": false,
147
+ "capture_height": 480,
148
+ "capture_hz": 30,
149
+ "capture_width": 640,
150
+ "collect_ir": false,
151
+ "ir": false,
152
+ "prepub_resize": 1.0,
153
+ "publish_hz": 30,
154
+ "qos": "reliable",
155
+ "serial_no": {
156
+ "base_0": "260322272085",
157
+ "left_wrist_0": "260422275825",
158
+ "right_wrist_0": "260322279382"
159
+ }
160
+ },
161
+ "collection_input_source": "pedal,tty",
162
+ "collection_pedal": {
163
+ "confirm_presses": 2,
164
+ "confirm_window_s": 1.0,
165
+ "debounce_s": 0.05,
166
+ "devices": [
167
+ "/dev/input/prometheus-pedal",
168
+ "/dev/input/prometheus-pedal-aux"
169
+ ],
170
+ "exclusive": true,
171
+ "pedal_map": {
172
+ "2": 0,
173
+ "3": 1,
174
+ "4": 2,
175
+ "5": 3,
176
+ "30": 0,
177
+ "32": 3,
178
+ "46": 2,
179
+ "48": 1
180
+ }
181
+ },
182
+ "control_domain_id": 21,
183
+ "id": "yam",
184
+ "robot": {
185
+ "action_space": "abs_qpos",
186
+ "alignment_duration_s": 3.0,
187
+ "bilateral_kp": 0.0,
188
+ "collection_mode": "policy",
189
+ "control_hz": 120,
190
+ "enable_auto_recovery": false,
191
+ "follower_arm": "yam_ultra",
192
+ "follower_can": {
193
+ "left": "can_follower_l",
194
+ "right": "can_follower_r"
195
+ },
196
+ "follower_gripper": "linear_4310",
197
+ "gripper_width_m": 0.096,
198
+ "home_return": {
199
+ "enabled": false,
200
+ "feedback_timeout_s": 0.5,
201
+ "kp_scale": 1.0,
202
+ "max_velocity": 0.3,
203
+ "min_duration_s": 3.0,
204
+ "position_tolerance": 0.05,
205
+ "settle_s": 0.3,
206
+ "timeout_s": 25.0,
207
+ "tracking_error_limit": 0.35,
208
+ "velocity_tolerance": 0.1
209
+ },
210
+ "leader_arm": "yam",
211
+ "leader_can": null,
212
+ "leader_gripper": "yam_teaching_handle",
213
+ "policy_control": {
214
+ "acceleration_limits": [
215
+ 118.7426430016755,
216
+ 165.012131490699,
217
+ 134.04180689399348,
218
+ 274.86399842805685,
219
+ 195.25766555964873,
220
+ 454.5340796113012,
221
+ 109.40927818565227,
222
+ 178.49339036295515,
223
+ 476.6444930964641,
224
+ 557.9080874526715,
225
+ 587.1810202100611,
226
+ 362.1711802492357,
227
+ 208.8803265352197,
228
+ 208.9010343469399
229
+ ],
230
+ "command_timeout_s": 0.25,
231
+ "command_velocity_limits": [
232
+ 7.326937734087213,
233
+ 7.492612143357643,
234
+ 9.039960411055707,
235
+ 10.989442599937178,
236
+ 11.822247140410347,
237
+ 21.729793477053846,
238
+ 4.549583926449072,
239
+ 9.542591565847905,
240
+ 16.49783855493206,
241
+ 19.18122166486826,
242
+ 20.271305218109156,
243
+ 13.274309575261345,
244
+ 14.009155302643812,
245
+ 4.764187300355128
246
+ ],
247
+ "feedback_timeout_s": 0.2,
248
+ "hz": 30.0,
249
+ "stationary_velocity_limits": [
250
+ 0.09619047798216343,
251
+ 0.09619047798216343,
252
+ 0.09125763334333897,
253
+ 0.09619047798216343,
254
+ 0.11098901189863682,
255
+ 0.18498168900609016,
256
+ 0.014679903751239181,
257
+ 0.10112332262098789,
258
+ 0.11098901189863682,
259
+ 0.10112332262098789,
260
+ 0.11098901189863682,
261
+ 0.14058608725667,
262
+ 0.2885714414715767,
263
+ 0.014345181323587895
264
+ ],
265
+ "stop_file": "/tmp/prometheus_openpi/STOP",
266
+ "tracking_error_limits": [
267
+ 0.20073625504970552,
268
+ 0.309388148188591,
269
+ 0.29782940477132797,
270
+ 0.22655070275068284,
271
+ 0.5001068050414323,
272
+ 0.7771305423974991,
273
+ 0.06952205713838339,
274
+ 0.268162048868835,
275
+ 0.3556229412555695,
276
+ 0.4542571985721588,
277
+ 0.3109293460845947,
278
+ 1.0653276860713958,
279
+ 0.45733958966098726,
280
+ 0.07211417473852634
281
+ ],
282
+ "urdf": "/home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf",
283
+ "velocity_limits": [
284
+ 6.503956017494202,
285
+ 7.554651925563812,
286
+ 9.670842275619506,
287
+ 10.588351378440857,
288
+ 8.72373610496521,
289
+ 13.252087483406067,
290
+ 1.2993822544813156,
291
+ 8.664541969299316,
292
+ 10.73633671760559,
293
+ 14.77633719921112,
294
+ 17.380879168510436,
295
+ 20.799341225624083,
296
+ 7.747032866477967,
297
+ 1.3316887146234513
298
+ ]
299
+ },
300
+ "require_enable_button": false,
301
+ "sim": false,
302
+ "state_publish_hz": 120,
303
+ "teleoperation_enabled": false
304
+ },
305
+ "sensor_domain_id": 22
306
+ },
307
+ "ros": {
308
+ "localhost_only": true
309
+ },
310
+ "run": {
311
+ "action_steps": 30,
312
+ "id": "20260918_000706_303443_round_0002",
313
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0002",
314
+ "runtime_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime",
315
+ "steps": 40,
316
+ "wait_ready_timeout_s": 30.0
317
+ }
318
+ },
319
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0002",
320
+ "next_round_confirmed": true,
321
+ "observation_not_before_ns": 1789661306562881525,
322
+ "operator_command_file": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime/operator_command",
323
+ "operator_drag_verified": true,
324
+ "operator_result": "success",
325
+ "operator_stopped": true,
326
+ "policy_control_limits": {
327
+ "acceleration_limits": [
328
+ 118.7426430016755,
329
+ 165.012131490699,
330
+ 134.04180689399348,
331
+ 274.86399842805685,
332
+ 195.25766555964873,
333
+ 454.5340796113012,
334
+ 109.40927818565227,
335
+ 178.49339036295515,
336
+ 476.6444930964641,
337
+ 557.9080874526715,
338
+ 587.1810202100611,
339
+ 362.1711802492357,
340
+ 208.8803265352197,
341
+ 208.9010343469399
342
+ ],
343
+ "armed": false,
344
+ "command_guard_failure": null,
345
+ "command_velocity_limits": [
346
+ 7.326937734087213,
347
+ 7.492612143357643,
348
+ 9.039960411055707,
349
+ 10.989442599937178,
350
+ 11.822247140410347,
351
+ 21.729793477053846,
352
+ 4.549583926449072,
353
+ 9.542591565847905,
354
+ 16.49783855493206,
355
+ 19.18122166486826,
356
+ 20.271305218109156,
357
+ 13.274309575261345,
358
+ 14.009155302643812,
359
+ 4.764187300355128
360
+ ],
361
+ "dragging": false,
362
+ "fault": null,
363
+ "holding": false,
364
+ "policy_finished": false,
365
+ "position_guard_failure": null,
366
+ "position_limit_source": "sdk",
367
+ "position_limits": [
368
+ [
369
+ -2.7679899999999997,
370
+ 3.29159
371
+ ],
372
+ [
373
+ -0.15,
374
+ 3.81519
375
+ ],
376
+ [
377
+ -0.15,
378
+ 3.29159
379
+ ],
380
+ [
381
+ -1.84297,
382
+ 1.7207999999999999
383
+ ],
384
+ [
385
+ -1.7207999999999999,
386
+ 1.7207999999999999
387
+ ],
388
+ [
389
+ -2.2443999999999997,
390
+ 2.2443999999999997
391
+ ],
392
+ [
393
+ 0.0,
394
+ 0.096
395
+ ],
396
+ [
397
+ -2.7679899999999997,
398
+ 3.29159
399
+ ],
400
+ [
401
+ -0.15,
402
+ 3.81519
403
+ ],
404
+ [
405
+ -0.15,
406
+ 3.29159
407
+ ],
408
+ [
409
+ -1.84297,
410
+ 1.7207999999999999
411
+ ],
412
+ [
413
+ -1.7207999999999999,
414
+ 1.7207999999999999
415
+ ],
416
+ [
417
+ -2.2443999999999997,
418
+ 2.2443999999999997
419
+ ],
420
+ [
421
+ 0.0,
422
+ 0.096
423
+ ]
424
+ ],
425
+ "stationary_velocity_limits": [
426
+ 0.09619047798216343,
427
+ 0.09619047798216343,
428
+ 0.09125763334333897,
429
+ 0.09619047798216343,
430
+ 0.11098901189863682,
431
+ 0.18498168900609016,
432
+ 0.014679903751239181,
433
+ 0.10112332262098789,
434
+ 0.11098901189863682,
435
+ 0.10112332262098789,
436
+ 0.11098901189863682,
437
+ 0.14058608725667,
438
+ 0.2885714414715767,
439
+ 0.014345181323587895
440
+ ],
441
+ "stop_file": "/tmp/prometheus_openpi/STOP",
442
+ "tracking_error_limits": [
443
+ 0.20073625504970552,
444
+ 0.309388148188591,
445
+ 0.29782940477132797,
446
+ 0.22655070275068284,
447
+ 0.5001068050414323,
448
+ 0.7771305423974991,
449
+ 0.06952205713838339,
450
+ 0.268162048868835,
451
+ 0.3556229412555695,
452
+ 0.4542571985721588,
453
+ 0.3109293460845947,
454
+ 1.0653276860713958,
455
+ 0.45733958966098726,
456
+ 0.07211417473852634
457
+ ],
458
+ "velocity_limits": [
459
+ 6.503956017494202,
460
+ 7.554651925563812,
461
+ 9.670842275619506,
462
+ 10.588351378440857,
463
+ 8.72373610496521,
464
+ 13.252087483406067,
465
+ 1.2993822544813156,
466
+ 8.664541969299316,
467
+ 10.73633671760559,
468
+ 14.77633719921112,
469
+ 17.380879168510436,
470
+ 20.799341225624083,
471
+ 7.747032866477967,
472
+ 1.3316887146234513
473
+ ]
474
+ },
475
+ "position_limit_source": "sdk",
476
+ "position_limits": [
477
+ [
478
+ -2.7679899999999997,
479
+ 3.29159
480
+ ],
481
+ [
482
+ -0.15,
483
+ 3.81519
484
+ ],
485
+ [
486
+ -0.15,
487
+ 3.29159
488
+ ],
489
+ [
490
+ -1.84297,
491
+ 1.7207999999999999
492
+ ],
493
+ [
494
+ -1.7207999999999999,
495
+ 1.7207999999999999
496
+ ],
497
+ [
498
+ -2.2443999999999997,
499
+ 2.2443999999999997
500
+ ],
501
+ [
502
+ 0.0,
503
+ 0.096
504
+ ],
505
+ [
506
+ -2.7679899999999997,
507
+ 3.29159
508
+ ],
509
+ [
510
+ -0.15,
511
+ 3.81519
512
+ ],
513
+ [
514
+ -0.15,
515
+ 3.29159
516
+ ],
517
+ [
518
+ -1.84297,
519
+ 1.7207999999999999
520
+ ],
521
+ [
522
+ -1.7207999999999999,
523
+ 1.7207999999999999
524
+ ],
525
+ [
526
+ -2.2443999999999997,
527
+ 2.2443999999999997
528
+ ],
529
+ [
530
+ 0.0,
531
+ 0.096
532
+ ]
533
+ ],
534
+ "recording": {
535
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0002",
536
+ "failure": "",
537
+ "paused": false,
538
+ "queue_size": 0,
539
+ "queues": {
540
+ "action": 0,
541
+ "camera:base_0": 0,
542
+ "camera:left_wrist_0": 0,
543
+ "camera:right_wrist_0": 0,
544
+ "event": 0,
545
+ "robot": 0
546
+ },
547
+ "record_counts": {
548
+ "action.executed": 908,
549
+ "camera.base_0_rgb": 939,
550
+ "camera.left_wrist_0_rgb": 939,
551
+ "camera.right_wrist_0_rgb": 939,
552
+ "dropped": 0,
553
+ "event.workflow": 1,
554
+ "items": 7485,
555
+ "robot.robot_state": 3759
556
+ },
557
+ "recording": false,
558
+ "recording_enabled": true
559
+ },
560
+ "reviewed_at_ns": 1789661337659629659,
561
+ "round_number": 2,
562
+ "stationary_velocity_limits": [
563
+ 0.09619047798216343,
564
+ 0.09619047798216343,
565
+ 0.09125763334333897,
566
+ 0.09619047798216343,
567
+ 0.11098901189863682,
568
+ 0.18498168900609016,
569
+ 0.014679903751239181,
570
+ 0.10112332262098789,
571
+ 0.11098901189863682,
572
+ 0.10112332262098789,
573
+ 0.11098901189863682,
574
+ 0.14058608725667,
575
+ 0.2885714414715767,
576
+ 0.014345181323587895
577
+ ],
578
+ "status": "completed",
579
+ "task_success": true,
580
+ "termination_reason": "operator_review",
581
+ "tracking_error_limits": [
582
+ 0.20073625504970552,
583
+ 0.309388148188591,
584
+ 0.29782940477132797,
585
+ 0.22655070275068284,
586
+ 0.5001068050414323,
587
+ 0.7771305423974991,
588
+ 0.06952205713838339,
589
+ 0.268162048868835,
590
+ 0.3556229412555695,
591
+ 0.4542571985721588,
592
+ 0.3109293460845947,
593
+ 1.0653276860713958,
594
+ 0.45733958966098726,
595
+ 0.07211417473852634
596
+ ],
597
+ "velocity_limits": [
598
+ 6.503956017494202,
599
+ 7.554651925563812,
600
+ 9.670842275619506,
601
+ 10.588351378440857,
602
+ 8.72373610496521,
603
+ 13.252087483406067,
604
+ 1.2993822544813156,
605
+ 8.664541969299316,
606
+ 10.73633671760559,
607
+ 14.77633719921112,
608
+ 17.380879168510436,
609
+ 20.799341225624083,
610
+ 7.747032866477967,
611
+ 1.3316887146234513
612
+ ]
613
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/camera/metadata.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_0_rgb": {
3
+ "codec": "h264",
4
+ "container": "mp4",
5
+ "encoder": "libx264",
6
+ "encoding": "bgr8",
7
+ "frames": 680,
8
+ "height": 480,
9
+ "lossless": false,
10
+ "pixel_format": "yuv420p",
11
+ "quality": {
12
+ "mode": "crf",
13
+ "value": 14
14
+ },
15
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
16
+ "timestamps": "camera/timestamp.pkl::base_0",
17
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
18
+ "video": "camera/base_0_rgb.mp4",
19
+ "width": 640
20
+ },
21
+ "left_wrist_0_rgb": {
22
+ "codec": "h264",
23
+ "container": "mp4",
24
+ "encoder": "libx264",
25
+ "encoding": "bgr8",
26
+ "frames": 682,
27
+ "height": 480,
28
+ "lossless": false,
29
+ "pixel_format": "yuv420p",
30
+ "quality": {
31
+ "mode": "crf",
32
+ "value": 14
33
+ },
34
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
35
+ "timestamps": "camera/timestamp.pkl::left_wrist_0",
36
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
37
+ "video": "camera/left_wrist_0_rgb.mp4",
38
+ "width": 640
39
+ },
40
+ "right_wrist_0_rgb": {
41
+ "codec": "h264",
42
+ "container": "mp4",
43
+ "encoder": "libx264",
44
+ "encoding": "bgr8",
45
+ "frames": 684,
46
+ "height": 480,
47
+ "lossless": false,
48
+ "pixel_format": "yuv420p",
49
+ "quality": {
50
+ "mode": "crf",
51
+ "value": 14
52
+ },
53
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
54
+ "timestamps": "camera/timestamp.pkl::right_wrist_0",
55
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
56
+ "video": "camera/right_wrist_0_rgb.mp4",
57
+ "width": 640
58
+ }
59
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/camera/timestamp.pkl ADDED
Binary file (16.4 kB). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/debug/actions.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/debug/async_events.jsonl ADDED
@@ -0,0 +1,81 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"event": "prediction_requested", "time_ns": 1789661803872918010, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
2
+ {"event": "plan_adopted", "time_ns": 1789661804051736517, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 115.50834000809118, "blended_steps": 0}
3
+ {"event": "prediction_requested", "time_ns": 1789661804661654917, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
4
+ {"event": "plan_adopted", "time_ns": 1789661804773828852, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.41798699833453, "blended_steps": 5}
5
+ {"event": "prediction_requested", "time_ns": 1789661805216573340, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
6
+ {"event": "plan_adopted", "time_ns": 1789661805322348944, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.06748098996468, "blended_steps": 5}
7
+ {"event": "prediction_requested", "time_ns": 1789661805797309575, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
8
+ {"event": "plan_adopted", "time_ns": 1789661805901449275, "actions_sent": 54, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 108.59578300733119, "blended_steps": 5}
9
+ {"event": "prediction_requested", "time_ns": 1789661806372937566, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
10
+ {"event": "plan_adopted", "time_ns": 1789661806479426654, "actions_sent": 71, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.19431897695176, "blended_steps": 5}
11
+ {"event": "prediction_requested", "time_ns": 1789661806956362119, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
12
+ {"event": "plan_adopted", "time_ns": 1789661807063695217, "actions_sent": 88, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.17668102192692, "blended_steps": 5}
13
+ {"event": "prediction_requested", "time_ns": 1789661807503249344, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
14
+ {"event": "plan_adopted", "time_ns": 1789661807610009356, "actions_sent": 104, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.40569199901074, "blended_steps": 5}
15
+ {"event": "prediction_requested", "time_ns": 1789661808081871027, "actions_sent": 118, "prediction": 7, "queue_remaining": 12}
16
+ {"event": "plan_adopted", "time_ns": 1789661808189662155, "actions_sent": 121, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.92875500256196, "blended_steps": 5}
17
+ {"event": "prediction_requested", "time_ns": 1789661808663672771, "actions_sent": 135, "prediction": 8, "queue_remaining": 12}
18
+ {"event": "plan_adopted", "time_ns": 1789661808766137968, "actions_sent": 138, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 107.35418999684043, "blended_steps": 5}
19
+ {"event": "prediction_requested", "time_ns": 1789661809238460211, "actions_sent": 152, "prediction": 9, "queue_remaining": 12}
20
+ {"event": "plan_adopted", "time_ns": 1789661809347657058, "actions_sent": 155, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.57746397820301, "blended_steps": 5}
21
+ {"event": "prediction_requested", "time_ns": 1789661809833228493, "actions_sent": 169, "prediction": 10, "queue_remaining": 12}
22
+ {"event": "plan_adopted", "time_ns": 1789661809939438802, "actions_sent": 172, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.32197099085897, "blended_steps": 5}
23
+ {"event": "prediction_requested", "time_ns": 1789661810375994750, "actions_sent": 185, "prediction": 11, "queue_remaining": 12}
24
+ {"event": "plan_adopted", "time_ns": 1789661810481078229, "actions_sent": 188, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.3132250122726, "blended_steps": 5}
25
+ {"event": "prediction_requested", "time_ns": 1789661810950198757, "actions_sent": 202, "prediction": 12, "queue_remaining": 12}
26
+ {"event": "plan_adopted", "time_ns": 1789661811052834810, "actions_sent": 205, "prediction": 12, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.05444399034604, "blended_steps": 5}
27
+ {"event": "prediction_requested", "time_ns": 1789661811526252541, "actions_sent": 219, "prediction": 13, "queue_remaining": 12}
28
+ {"event": "plan_adopted", "time_ns": 1789661811631432873, "actions_sent": 222, "prediction": 13, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.53954400494695, "blended_steps": 5}
29
+ {"event": "prediction_requested", "time_ns": 1789661812067728270, "actions_sent": 235, "prediction": 14, "queue_remaining": 12}
30
+ {"event": "plan_adopted", "time_ns": 1789661812173903507, "actions_sent": 238, "prediction": 14, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 148.46922497963533, "blended_steps": 5}
31
+ {"event": "prediction_requested", "time_ns": 1789661812616628652, "actions_sent": 251, "prediction": 15, "queue_remaining": 12}
32
+ {"event": "plan_adopted", "time_ns": 1789661812722233754, "actions_sent": 254, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.3323649733793, "blended_steps": 5}
33
+ {"event": "prediction_requested", "time_ns": 1789661813193935198, "actions_sent": 268, "prediction": 16, "queue_remaining": 12}
34
+ {"event": "plan_adopted", "time_ns": 1789661813298718502, "actions_sent": 271, "prediction": 16, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.80776199907996, "blended_steps": 5}
35
+ {"event": "prediction_requested", "time_ns": 1789661813738387726, "actions_sent": 284, "prediction": 17, "queue_remaining": 12}
36
+ {"event": "plan_adopted", "time_ns": 1789661813845532903, "actions_sent": 287, "prediction": 17, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 149.29835102520883, "blended_steps": 5}
37
+ {"event": "prediction_requested", "time_ns": 1789661814286569103, "actions_sent": 300, "prediction": 18, "queue_remaining": 12}
38
+ {"event": "plan_adopted", "time_ns": 1789661814393093991, "actions_sent": 303, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.16115401498973, "blended_steps": 5}
39
+ {"event": "prediction_requested", "time_ns": 1789661814923540274, "actions_sent": 317, "prediction": 19, "queue_remaining": 12}
40
+ {"event": "plan_adopted", "time_ns": 1789661815027166158, "actions_sent": 320, "prediction": 19, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.5789469992742, "blended_steps": 5}
41
+ {"event": "prediction_requested", "time_ns": 1789661815504420463, "actions_sent": 334, "prediction": 20, "queue_remaining": 12}
42
+ {"event": "plan_adopted", "time_ns": 1789661815609619404, "actions_sent": 337, "prediction": 20, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.79559499584138, "blended_steps": 5}
43
+ {"event": "prediction_requested", "time_ns": 1789661816055490076, "actions_sent": 350, "prediction": 21, "queue_remaining": 12}
44
+ {"event": "plan_adopted", "time_ns": 1789661816158909492, "actions_sent": 353, "prediction": 21, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.42342402716167, "blended_steps": 5}
45
+ {"event": "prediction_requested", "time_ns": 1789661816633338746, "actions_sent": 367, "prediction": 22, "queue_remaining": 12}
46
+ {"event": "plan_adopted", "time_ns": 1789661816741105002, "actions_sent": 370, "prediction": 22, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.6151759775821, "blended_steps": 5}
47
+ {"event": "prediction_requested", "time_ns": 1789661817178473276, "actions_sent": 383, "prediction": 23, "queue_remaining": 12}
48
+ {"event": "plan_adopted", "time_ns": 1789661817281585880, "actions_sent": 386, "prediction": 23, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.69899699417874, "blended_steps": 5}
49
+ {"event": "prediction_requested", "time_ns": 1789661817751824845, "actions_sent": 400, "prediction": 24, "queue_remaining": 12}
50
+ {"event": "plan_adopted", "time_ns": 1789661817856942260, "actions_sent": 403, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.87779299449176, "blended_steps": 5}
51
+ {"event": "prediction_requested", "time_ns": 1789661818326163988, "actions_sent": 417, "prediction": 25, "queue_remaining": 12}
52
+ {"event": "plan_adopted", "time_ns": 1789661818428654323, "actions_sent": 420, "prediction": 25, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.62868999340571, "blended_steps": 5}
53
+ {"event": "prediction_requested", "time_ns": 1789661818865132665, "actions_sent": 433, "prediction": 26, "queue_remaining": 12}
54
+ {"event": "plan_adopted", "time_ns": 1789661818968362312, "actions_sent": 436, "prediction": 26, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.02197099034674, "blended_steps": 5}
55
+ {"event": "prediction_requested", "time_ns": 1789661819411603093, "actions_sent": 449, "prediction": 27, "queue_remaining": 12}
56
+ {"event": "plan_adopted", "time_ns": 1789661819518539719, "actions_sent": 452, "prediction": 27, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.09176199394278, "blended_steps": 5}
57
+ {"event": "prediction_requested", "time_ns": 1789661819996524510, "actions_sent": 466, "prediction": 28, "queue_remaining": 12}
58
+ {"event": "plan_adopted", "time_ns": 1789661820100692045, "actions_sent": 469, "prediction": 28, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.70335802109912, "blended_steps": 5}
59
+ {"event": "prediction_requested", "time_ns": 1789661820546066463, "actions_sent": 482, "prediction": 29, "queue_remaining": 12}
60
+ {"event": "plan_adopted", "time_ns": 1789661820659127810, "actions_sent": 485, "prediction": 29, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.20661401585676, "blended_steps": 5}
61
+ {"event": "prediction_requested", "time_ns": 1789661821133685784, "actions_sent": 499, "prediction": 30, "queue_remaining": 12}
62
+ {"event": "plan_adopted", "time_ns": 1789661821239968854, "actions_sent": 502, "prediction": 30, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.13807899411768, "blended_steps": 5}
63
+ {"event": "prediction_requested", "time_ns": 1789661821683483323, "actions_sent": 515, "prediction": 31, "queue_remaining": 12}
64
+ {"event": "plan_adopted", "time_ns": 1789661821789198200, "actions_sent": 518, "prediction": 31, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.86731200967915, "blended_steps": 5}
65
+ {"event": "prediction_requested", "time_ns": 1789661822267116514, "actions_sent": 532, "prediction": 32, "queue_remaining": 12}
66
+ {"event": "plan_adopted", "time_ns": 1789661822369434122, "actions_sent": 535, "prediction": 32, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.14118702127598, "blended_steps": 5}
67
+ {"event": "prediction_requested", "time_ns": 1789661822817558543, "actions_sent": 548, "prediction": 33, "queue_remaining": 12}
68
+ {"event": "plan_adopted", "time_ns": 1789661822920027646, "actions_sent": 551, "prediction": 33, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.82936200103723, "blended_steps": 5}
69
+ {"event": "prediction_requested", "time_ns": 1789661823394293173, "actions_sent": 565, "prediction": 34, "queue_remaining": 12}
70
+ {"event": "plan_adopted", "time_ns": 1789661823495529167, "actions_sent": 568, "prediction": 34, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.45447498816065, "blended_steps": 5}
71
+ {"event": "prediction_requested", "time_ns": 1789661823932083451, "actions_sent": 581, "prediction": 35, "queue_remaining": 12}
72
+ {"event": "plan_adopted", "time_ns": 1789661824033559757, "actions_sent": 584, "prediction": 35, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.99373399908654, "blended_steps": 5}
73
+ {"event": "prediction_requested", "time_ns": 1789661824474464372, "actions_sent": 597, "prediction": 36, "queue_remaining": 12}
74
+ {"event": "plan_adopted", "time_ns": 1789661824584090831, "actions_sent": 600, "prediction": 36, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 152.97066801576875, "blended_steps": 5}
75
+ {"event": "prediction_requested", "time_ns": 1789661825027462238, "actions_sent": 613, "prediction": 37, "queue_remaining": 12}
76
+ {"event": "plan_adopted", "time_ns": 1789661825133692678, "actions_sent": 616, "prediction": 37, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.99971099756658, "blended_steps": 5}
77
+ {"event": "prediction_requested", "time_ns": 1789661825572265223, "actions_sent": 629, "prediction": 38, "queue_remaining": 12}
78
+ {"event": "plan_adopted", "time_ns": 1789661825678086743, "actions_sent": 632, "prediction": 38, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.76447003148496, "blended_steps": 5}
79
+ {"event": "prediction_requested", "time_ns": 1789661826119481053, "actions_sent": 645, "prediction": 39, "queue_remaining": 12}
80
+ {"event": "plan_adopted", "time_ns": 1789661826284692102, "actions_sent": 649, "prediction": 39, "queue_remaining": 24, "skipped_prefix": 6, "observation_age_ms": 186.60082499263808, "blended_steps": 5}
81
+ {"event": "operator_stopped", "time_ns": 1789661826331725372, "actions_sent": 651, "result": "failure"}
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/event/event_dict.pkl ADDED
Binary file (109 Bytes). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/action.json ADDED
@@ -0,0 +1,29 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_action_recorder": {
3
+ "counts": {
4
+ "action.executed": 651,
5
+ "camera.base_0_rgb": 680,
6
+ "camera.left_wrist_0_rgb": 682,
7
+ "camera.right_wrist_0_rgb": 684,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 5531,
11
+ "robot.robot_state": 2833
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0004",
14
+ "executed_actions": 651,
15
+ "failure": "",
16
+ "metadata": {
17
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
18
+ "round_number": 4,
19
+ "run_id": "20260918_001636_597854_round_0004",
20
+ "workflow": "openpi_rollout"
21
+ },
22
+ "policy_action_chunks": 0,
23
+ "record_id": "prometheus_action_recorder",
24
+ "record_mode": "action",
25
+ "schema": "prometheus_raw_episode_v1",
26
+ "status": "saved",
27
+ "updated_at_unix": 1789661826.4668782
28
+ }
29
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/camera.json ADDED
@@ -0,0 +1,104 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_camera_base_0_recorder": {
3
+ "camera_frames": {
4
+ "base_0_rgb": 680
5
+ },
6
+ "camera_timestamp_samples": 680,
7
+ "complete_sensor_bundles": 680,
8
+ "counts": {
9
+ "action.executed": 651,
10
+ "camera.base_0_rgb": 680,
11
+ "camera.left_wrist_0_rgb": 682,
12
+ "camera.right_wrist_0_rgb": 684,
13
+ "dropped": 0,
14
+ "event.workflow": 1,
15
+ "items": 5531,
16
+ "robot.robot_state": 2833
17
+ },
18
+ "dropped_incomplete_sensor_bundles": 0,
19
+ "duplicate_sensor_messages": 0,
20
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0004",
21
+ "failure": "",
22
+ "metadata": {
23
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
24
+ "round_number": 4,
25
+ "run_id": "20260918_001636_597854_round_0004",
26
+ "workflow": "openpi_rollout"
27
+ },
28
+ "record_id": "prometheus_camera_base_0_recorder",
29
+ "record_mode": "sensor",
30
+ "schema": "prometheus_raw_episode_v1",
31
+ "sensor_kind": "camera",
32
+ "sensor_name": "base_0",
33
+ "status": "saved",
34
+ "updated_at_unix": 1789661826.4668782
35
+ },
36
+ "prometheus_camera_left_wrist_0_recorder": {
37
+ "camera_frames": {
38
+ "left_wrist_0_rgb": 682
39
+ },
40
+ "camera_timestamp_samples": 682,
41
+ "complete_sensor_bundles": 682,
42
+ "counts": {
43
+ "action.executed": 651,
44
+ "camera.base_0_rgb": 680,
45
+ "camera.left_wrist_0_rgb": 682,
46
+ "camera.right_wrist_0_rgb": 684,
47
+ "dropped": 0,
48
+ "event.workflow": 1,
49
+ "items": 5531,
50
+ "robot.robot_state": 2833
51
+ },
52
+ "dropped_incomplete_sensor_bundles": 0,
53
+ "duplicate_sensor_messages": 0,
54
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0004",
55
+ "failure": "",
56
+ "metadata": {
57
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
58
+ "round_number": 4,
59
+ "run_id": "20260918_001636_597854_round_0004",
60
+ "workflow": "openpi_rollout"
61
+ },
62
+ "record_id": "prometheus_camera_left_wrist_0_recorder",
63
+ "record_mode": "sensor",
64
+ "schema": "prometheus_raw_episode_v1",
65
+ "sensor_kind": "camera",
66
+ "sensor_name": "left_wrist_0",
67
+ "status": "saved",
68
+ "updated_at_unix": 1789661826.4668782
69
+ },
70
+ "prometheus_camera_right_wrist_0_recorder": {
71
+ "camera_frames": {
72
+ "right_wrist_0_rgb": 684
73
+ },
74
+ "camera_timestamp_samples": 684,
75
+ "complete_sensor_bundles": 684,
76
+ "counts": {
77
+ "action.executed": 651,
78
+ "camera.base_0_rgb": 680,
79
+ "camera.left_wrist_0_rgb": 682,
80
+ "camera.right_wrist_0_rgb": 684,
81
+ "dropped": 0,
82
+ "event.workflow": 1,
83
+ "items": 5531,
84
+ "robot.robot_state": 2833
85
+ },
86
+ "dropped_incomplete_sensor_bundles": 0,
87
+ "duplicate_sensor_messages": 0,
88
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0004",
89
+ "failure": "",
90
+ "metadata": {
91
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
92
+ "round_number": 4,
93
+ "run_id": "20260918_001636_597854_round_0004",
94
+ "workflow": "openpi_rollout"
95
+ },
96
+ "record_id": "prometheus_camera_right_wrist_0_recorder",
97
+ "record_mode": "sensor",
98
+ "schema": "prometheus_raw_episode_v1",
99
+ "sensor_kind": "camera",
100
+ "sensor_name": "right_wrist_0",
101
+ "status": "saved",
102
+ "updated_at_unix": 1789661826.4668782
103
+ }
104
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/event.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_event_recorder": {
3
+ "counts": {
4
+ "action.executed": 651,
5
+ "camera.base_0_rgb": 680,
6
+ "camera.left_wrist_0_rgb": 682,
7
+ "camera.right_wrist_0_rgb": 684,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 5531,
11
+ "robot.robot_state": 2833
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0004",
14
+ "event_samples": 1,
15
+ "failure": "",
16
+ "metadata": {
17
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
18
+ "round_number": 4,
19
+ "run_id": "20260918_001636_597854_round_0004",
20
+ "workflow": "openpi_rollout"
21
+ },
22
+ "record_id": "prometheus_event_recorder",
23
+ "record_mode": "event",
24
+ "schema": "prometheus_raw_episode_v1",
25
+ "status": "saved",
26
+ "updated_at_unix": 1789661826.4668782
27
+ }
28
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/robot.json ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_robot_recorder": {
3
+ "counts": {
4
+ "action.executed": 651,
5
+ "camera.base_0_rgb": 680,
6
+ "camera.left_wrist_0_rgb": 682,
7
+ "camera.right_wrist_0_rgb": 684,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 5531,
11
+ "robot.robot_state": 2833
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0004",
14
+ "failure": "",
15
+ "incomplete_robot_samples": {
16
+ "left": 2833,
17
+ "right": 2833
18
+ },
19
+ "metadata": {
20
+ "purpose": "continuous cameras and robot state; retain failed/interrupted runs",
21
+ "round_number": 4,
22
+ "run_id": "20260918_001636_597854_round_0004",
23
+ "workflow": "openpi_rollout"
24
+ },
25
+ "pending_robot_samples": 0,
26
+ "plot_outputs": [],
27
+ "record_id": "prometheus_robot_recorder",
28
+ "record_mode": "robot",
29
+ "robot_samples": {
30
+ "left": 2833,
31
+ "right": 2833
32
+ },
33
+ "schema": "prometheus_raw_episode_v1",
34
+ "status": "saved",
35
+ "updated_at_unix": 1789661826.4668782
36
+ }
37
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/manifests/tactile.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {}
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0004/workflow_manifest.json ADDED
@@ -0,0 +1,612 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "acceleration_limits": [
3
+ 118.7426430016755,
4
+ 165.012131490699,
5
+ 134.04180689399348,
6
+ 274.86399842805685,
7
+ 195.25766555964873,
8
+ 454.5340796113012,
9
+ 109.40927818565227,
10
+ 178.49339036295515,
11
+ 476.6444930964641,
12
+ 557.9080874526715,
13
+ 587.1810202100611,
14
+ 362.1711802492357,
15
+ 208.8803265352197,
16
+ 208.9010343469399
17
+ ],
18
+ "actions_sent": 651,
19
+ "async_execution": {
20
+ "blend_steps": 5,
21
+ "chunk_counter_meaning": "completed groups of 30 acknowledged targets",
22
+ "expired_prefix_actions": 177,
23
+ "mode": "async_overlap",
24
+ "plans_adopted": 40,
25
+ "prediction_horizon": 30,
26
+ "predictions_requested": 40,
27
+ "prefetch_steps": 12,
28
+ "queue_underruns": 0,
29
+ "target_budget": 1200
30
+ },
31
+ "chunks": 21,
32
+ "command_velocity_limits": [
33
+ 7.326937734087213,
34
+ 7.492612143357643,
35
+ 9.039960411055707,
36
+ 10.989442599937178,
37
+ 11.822247140410347,
38
+ 21.729793477053846,
39
+ 4.549583926449072,
40
+ 9.542591565847905,
41
+ 16.49783855493206,
42
+ 19.18122166486826,
43
+ 20.271305218109156,
44
+ 13.274309575261345,
45
+ 14.009155302643812,
46
+ 4.764187300355128
47
+ ],
48
+ "config": {
49
+ "async_inference": {
50
+ "blend_steps": 5,
51
+ "enabled": true,
52
+ "prefetch_steps": 12
53
+ },
54
+ "data": {
55
+ "bridge": {
56
+ "enabled": true,
57
+ "name": "openpi_observe_20260918_001636_597854",
58
+ "qos_depth": 10,
59
+ "sensor_qos": "reliable",
60
+ "stamp_source": "header",
61
+ "wait_all_streams": true
62
+ },
63
+ "history": 64,
64
+ "mode": "owned",
65
+ "name": "openpi_data",
66
+ "numpy": {
67
+ "enabled": true
68
+ },
69
+ "recording": {
70
+ "camera_encoder": "libx264",
71
+ "default_event_value": null,
72
+ "enable_plots": false,
73
+ "enabled": true,
74
+ "fps": 30.0,
75
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data",
76
+ "queue_size": 4096
77
+ },
78
+ "streams": {
79
+ "base_0_color": {
80
+ "domain": "sensor",
81
+ "msg_type": "sensor_msgs.msg.Image",
82
+ "ros_domain_id": 22,
83
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
84
+ },
85
+ "left_wrist_0_color": {
86
+ "domain": "sensor",
87
+ "msg_type": "sensor_msgs.msg.Image",
88
+ "ros_domain_id": 22,
89
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
90
+ },
91
+ "right_wrist_0_color": {
92
+ "domain": "sensor",
93
+ "msg_type": "sensor_msgs.msg.Image",
94
+ "ros_domain_id": 22,
95
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
96
+ },
97
+ "robot_state": {
98
+ "domain": "robot",
99
+ "msg_type": "sensor_msgs.msg.JointState",
100
+ "ros_domain_id": 21,
101
+ "topic": "/prometheus/robots/yam/state"
102
+ }
103
+ }
104
+ },
105
+ "execute": true,
106
+ "execution": {
107
+ "command_ack_timeout_s": 0.1,
108
+ "hold_settle_s": 0.2,
109
+ "hold_settle_timeout_s": 5.0,
110
+ "max_prediction_age_s": 0.5,
111
+ "max_schedule_lateness_s": 0.105
112
+ },
113
+ "hardware": {
114
+ "mode": "owned",
115
+ "name": "openpi_hardware",
116
+ "sensors": "auto",
117
+ "streams": "auto"
118
+ },
119
+ "policy": {
120
+ "action_hz": 30.0,
121
+ "connect_timeout_s": 10.0,
122
+ "host": "127.0.0.1",
123
+ "max_observation_age_s": 0.5,
124
+ "observation_wait_timeout_s": 1.0,
125
+ "port": 8000,
126
+ "prompt": "Pick up the banana with the right arm, hand it over to the left arm, and place it on the plate.",
127
+ "response_timeout_s": 120.0,
128
+ "slop_ms": 20.0
129
+ },
130
+ "preview": {
131
+ "enabled": true,
132
+ "fps": 20.0,
133
+ "height": 720,
134
+ "host": "127.0.0.1",
135
+ "mode": "local",
136
+ "port": 7860,
137
+ "refresh_ms": 100,
138
+ "stale_timeout_s": 1.0,
139
+ "ui_mode": "openpi",
140
+ "width": 1280,
141
+ "window": "Pi0.5 - Async execution"
142
+ },
143
+ "robot": {
144
+ "_target_": "prometheus.nodes.robots.yam.resolve_robot",
145
+ "cameras": {
146
+ "camera_info": false,
147
+ "capture_height": 480,
148
+ "capture_hz": 30,
149
+ "capture_width": 640,
150
+ "collect_ir": false,
151
+ "ir": false,
152
+ "prepub_resize": 1.0,
153
+ "publish_hz": 30,
154
+ "qos": "reliable",
155
+ "serial_no": {
156
+ "base_0": "260322272085",
157
+ "left_wrist_0": "260422275825",
158
+ "right_wrist_0": "260322279382"
159
+ }
160
+ },
161
+ "collection_input_source": "pedal,tty",
162
+ "collection_pedal": {
163
+ "confirm_presses": 2,
164
+ "confirm_window_s": 1.0,
165
+ "debounce_s": 0.05,
166
+ "devices": [
167
+ "/dev/input/prometheus-pedal",
168
+ "/dev/input/prometheus-pedal-aux"
169
+ ],
170
+ "exclusive": true,
171
+ "pedal_map": {
172
+ "2": 0,
173
+ "3": 1,
174
+ "4": 2,
175
+ "5": 3,
176
+ "30": 0,
177
+ "32": 3,
178
+ "46": 2,
179
+ "48": 1
180
+ }
181
+ },
182
+ "control_domain_id": 21,
183
+ "id": "yam",
184
+ "robot": {
185
+ "action_space": "abs_qpos",
186
+ "alignment_duration_s": 3.0,
187
+ "bilateral_kp": 0.0,
188
+ "collection_mode": "policy",
189
+ "control_hz": 120,
190
+ "enable_auto_recovery": false,
191
+ "follower_arm": "yam_ultra",
192
+ "follower_can": {
193
+ "left": "can_follower_l",
194
+ "right": "can_follower_r"
195
+ },
196
+ "follower_gripper": "linear_4310",
197
+ "gripper_width_m": 0.096,
198
+ "home_return": {
199
+ "enabled": false,
200
+ "feedback_timeout_s": 0.5,
201
+ "kp_scale": 1.0,
202
+ "max_velocity": 0.3,
203
+ "min_duration_s": 3.0,
204
+ "position_tolerance": 0.05,
205
+ "settle_s": 0.3,
206
+ "timeout_s": 25.0,
207
+ "tracking_error_limit": 0.35,
208
+ "velocity_tolerance": 0.1
209
+ },
210
+ "leader_arm": "yam",
211
+ "leader_can": null,
212
+ "leader_gripper": "yam_teaching_handle",
213
+ "policy_control": {
214
+ "acceleration_limits": [
215
+ 118.7426430016755,
216
+ 165.012131490699,
217
+ 134.04180689399348,
218
+ 274.86399842805685,
219
+ 195.25766555964873,
220
+ 454.5340796113012,
221
+ 109.40927818565227,
222
+ 178.49339036295515,
223
+ 476.6444930964641,
224
+ 557.9080874526715,
225
+ 587.1810202100611,
226
+ 362.1711802492357,
227
+ 208.8803265352197,
228
+ 208.9010343469399
229
+ ],
230
+ "command_timeout_s": 0.25,
231
+ "command_velocity_limits": [
232
+ 7.326937734087213,
233
+ 7.492612143357643,
234
+ 9.039960411055707,
235
+ 10.989442599937178,
236
+ 11.822247140410347,
237
+ 21.729793477053846,
238
+ 4.549583926449072,
239
+ 9.542591565847905,
240
+ 16.49783855493206,
241
+ 19.18122166486826,
242
+ 20.271305218109156,
243
+ 13.274309575261345,
244
+ 14.009155302643812,
245
+ 4.764187300355128
246
+ ],
247
+ "feedback_timeout_s": 0.2,
248
+ "hz": 30.0,
249
+ "stationary_velocity_limits": [
250
+ 0.09619047798216343,
251
+ 0.09619047798216343,
252
+ 0.09125763334333897,
253
+ 0.09619047798216343,
254
+ 0.11098901189863682,
255
+ 0.18498168900609016,
256
+ 0.014679903751239181,
257
+ 0.10112332262098789,
258
+ 0.11098901189863682,
259
+ 0.10112332262098789,
260
+ 0.11098901189863682,
261
+ 0.14058608725667,
262
+ 0.2885714414715767,
263
+ 0.014345181323587895
264
+ ],
265
+ "stop_file": "/tmp/prometheus_openpi/STOP",
266
+ "tracking_error_limits": [
267
+ 0.20073625504970552,
268
+ 0.309388148188591,
269
+ 0.29782940477132797,
270
+ 0.22655070275068284,
271
+ 0.5001068050414323,
272
+ 0.7771305423974991,
273
+ 0.06952205713838339,
274
+ 0.268162048868835,
275
+ 0.3556229412555695,
276
+ 0.4542571985721588,
277
+ 0.3109293460845947,
278
+ 1.0653276860713958,
279
+ 0.45733958966098726,
280
+ 0.07211417473852634
281
+ ],
282
+ "urdf": "/home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf",
283
+ "velocity_limits": [
284
+ 6.503956017494202,
285
+ 7.554651925563812,
286
+ 9.670842275619506,
287
+ 10.588351378440857,
288
+ 8.72373610496521,
289
+ 13.252087483406067,
290
+ 1.2993822544813156,
291
+ 8.664541969299316,
292
+ 10.73633671760559,
293
+ 14.77633719921112,
294
+ 17.380879168510436,
295
+ 20.799341225624083,
296
+ 7.747032866477967,
297
+ 1.3316887146234513
298
+ ]
299
+ },
300
+ "require_enable_button": false,
301
+ "sim": false,
302
+ "state_publish_hz": 120,
303
+ "teleoperation_enabled": false
304
+ },
305
+ "sensor_domain_id": 22
306
+ },
307
+ "ros": {
308
+ "localhost_only": true
309
+ },
310
+ "run": {
311
+ "action_steps": 30,
312
+ "id": "20260918_001636_597854_round_0004",
313
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0004",
314
+ "runtime_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime",
315
+ "steps": 40,
316
+ "wait_ready_timeout_s": 30.0
317
+ }
318
+ },
319
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0004",
320
+ "next_round_confirmed": true,
321
+ "operator_command_file": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime/operator_command",
322
+ "operator_drag_verified": true,
323
+ "operator_result": "failure",
324
+ "operator_stopped": true,
325
+ "policy_control_limits": {
326
+ "acceleration_limits": [
327
+ 118.7426430016755,
328
+ 165.012131490699,
329
+ 134.04180689399348,
330
+ 274.86399842805685,
331
+ 195.25766555964873,
332
+ 454.5340796113012,
333
+ 109.40927818565227,
334
+ 178.49339036295515,
335
+ 476.6444930964641,
336
+ 557.9080874526715,
337
+ 587.1810202100611,
338
+ 362.1711802492357,
339
+ 208.8803265352197,
340
+ 208.9010343469399
341
+ ],
342
+ "armed": false,
343
+ "command_guard_failure": null,
344
+ "command_velocity_limits": [
345
+ 7.326937734087213,
346
+ 7.492612143357643,
347
+ 9.039960411055707,
348
+ 10.989442599937178,
349
+ 11.822247140410347,
350
+ 21.729793477053846,
351
+ 4.549583926449072,
352
+ 9.542591565847905,
353
+ 16.49783855493206,
354
+ 19.18122166486826,
355
+ 20.271305218109156,
356
+ 13.274309575261345,
357
+ 14.009155302643812,
358
+ 4.764187300355128
359
+ ],
360
+ "dragging": false,
361
+ "fault": null,
362
+ "holding": false,
363
+ "policy_finished": false,
364
+ "position_guard_failure": null,
365
+ "position_limit_source": "sdk",
366
+ "position_limits": [
367
+ [
368
+ -2.7679899999999997,
369
+ 3.29159
370
+ ],
371
+ [
372
+ -0.15,
373
+ 3.81519
374
+ ],
375
+ [
376
+ -0.15,
377
+ 3.29159
378
+ ],
379
+ [
380
+ -1.84297,
381
+ 1.7207999999999999
382
+ ],
383
+ [
384
+ -1.7207999999999999,
385
+ 1.7207999999999999
386
+ ],
387
+ [
388
+ -2.2443999999999997,
389
+ 2.2443999999999997
390
+ ],
391
+ [
392
+ 0.0,
393
+ 0.096
394
+ ],
395
+ [
396
+ -2.7679899999999997,
397
+ 3.29159
398
+ ],
399
+ [
400
+ -0.15,
401
+ 3.81519
402
+ ],
403
+ [
404
+ -0.15,
405
+ 3.29159
406
+ ],
407
+ [
408
+ -1.84297,
409
+ 1.7207999999999999
410
+ ],
411
+ [
412
+ -1.7207999999999999,
413
+ 1.7207999999999999
414
+ ],
415
+ [
416
+ -2.2443999999999997,
417
+ 2.2443999999999997
418
+ ],
419
+ [
420
+ 0.0,
421
+ 0.096
422
+ ]
423
+ ],
424
+ "stationary_velocity_limits": [
425
+ 0.09619047798216343,
426
+ 0.09619047798216343,
427
+ 0.09125763334333897,
428
+ 0.09619047798216343,
429
+ 0.11098901189863682,
430
+ 0.18498168900609016,
431
+ 0.014679903751239181,
432
+ 0.10112332262098789,
433
+ 0.11098901189863682,
434
+ 0.10112332262098789,
435
+ 0.11098901189863682,
436
+ 0.14058608725667,
437
+ 0.2885714414715767,
438
+ 0.014345181323587895
439
+ ],
440
+ "stop_file": "/tmp/prometheus_openpi/STOP",
441
+ "tracking_error_limits": [
442
+ 0.20073625504970552,
443
+ 0.309388148188591,
444
+ 0.29782940477132797,
445
+ 0.22655070275068284,
446
+ 0.5001068050414323,
447
+ 0.7771305423974991,
448
+ 0.06952205713838339,
449
+ 0.268162048868835,
450
+ 0.3556229412555695,
451
+ 0.4542571985721588,
452
+ 0.3109293460845947,
453
+ 1.0653276860713958,
454
+ 0.45733958966098726,
455
+ 0.07211417473852634
456
+ ],
457
+ "velocity_limits": [
458
+ 6.503956017494202,
459
+ 7.554651925563812,
460
+ 9.670842275619506,
461
+ 10.588351378440857,
462
+ 8.72373610496521,
463
+ 13.252087483406067,
464
+ 1.2993822544813156,
465
+ 8.664541969299316,
466
+ 10.73633671760559,
467
+ 14.77633719921112,
468
+ 17.380879168510436,
469
+ 20.799341225624083,
470
+ 7.747032866477967,
471
+ 1.3316887146234513
472
+ ]
473
+ },
474
+ "position_limit_source": "sdk",
475
+ "position_limits": [
476
+ [
477
+ -2.7679899999999997,
478
+ 3.29159
479
+ ],
480
+ [
481
+ -0.15,
482
+ 3.81519
483
+ ],
484
+ [
485
+ -0.15,
486
+ 3.29159
487
+ ],
488
+ [
489
+ -1.84297,
490
+ 1.7207999999999999
491
+ ],
492
+ [
493
+ -1.7207999999999999,
494
+ 1.7207999999999999
495
+ ],
496
+ [
497
+ -2.2443999999999997,
498
+ 2.2443999999999997
499
+ ],
500
+ [
501
+ 0.0,
502
+ 0.096
503
+ ],
504
+ [
505
+ -2.7679899999999997,
506
+ 3.29159
507
+ ],
508
+ [
509
+ -0.15,
510
+ 3.81519
511
+ ],
512
+ [
513
+ -0.15,
514
+ 3.29159
515
+ ],
516
+ [
517
+ -1.84297,
518
+ 1.7207999999999999
519
+ ],
520
+ [
521
+ -1.7207999999999999,
522
+ 1.7207999999999999
523
+ ],
524
+ [
525
+ -2.2443999999999997,
526
+ 2.2443999999999997
527
+ ],
528
+ [
529
+ 0.0,
530
+ 0.096
531
+ ]
532
+ ],
533
+ "recording": {
534
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0004",
535
+ "failure": "",
536
+ "paused": false,
537
+ "queue_size": 0,
538
+ "queues": {
539
+ "action": 0,
540
+ "camera:base_0": 0,
541
+ "camera:left_wrist_0": 0,
542
+ "camera:right_wrist_0": 0,
543
+ "event": 0,
544
+ "robot": 0
545
+ },
546
+ "record_counts": {
547
+ "action.executed": 651,
548
+ "camera.base_0_rgb": 680,
549
+ "camera.left_wrist_0_rgb": 682,
550
+ "camera.right_wrist_0_rgb": 684,
551
+ "dropped": 0,
552
+ "event.workflow": 1,
553
+ "items": 5531,
554
+ "robot.robot_state": 2833
555
+ },
556
+ "recording": false,
557
+ "recording_enabled": true
558
+ },
559
+ "reviewed_at_ns": 1789661826327955509,
560
+ "round_number": 4,
561
+ "stationary_velocity_limits": [
562
+ 0.09619047798216343,
563
+ 0.09619047798216343,
564
+ 0.09125763334333897,
565
+ 0.09619047798216343,
566
+ 0.11098901189863682,
567
+ 0.18498168900609016,
568
+ 0.014679903751239181,
569
+ 0.10112332262098789,
570
+ 0.11098901189863682,
571
+ 0.10112332262098789,
572
+ 0.11098901189863682,
573
+ 0.14058608725667,
574
+ 0.2885714414715767,
575
+ 0.014345181323587895
576
+ ],
577
+ "status": "completed",
578
+ "task_success": false,
579
+ "termination_reason": "operator_review",
580
+ "tracking_error_limits": [
581
+ 0.20073625504970552,
582
+ 0.309388148188591,
583
+ 0.29782940477132797,
584
+ 0.22655070275068284,
585
+ 0.5001068050414323,
586
+ 0.7771305423974991,
587
+ 0.06952205713838339,
588
+ 0.268162048868835,
589
+ 0.3556229412555695,
590
+ 0.4542571985721588,
591
+ 0.3109293460845947,
592
+ 1.0653276860713958,
593
+ 0.45733958966098726,
594
+ 0.07211417473852634
595
+ ],
596
+ "velocity_limits": [
597
+ 6.503956017494202,
598
+ 7.554651925563812,
599
+ 9.670842275619506,
600
+ 10.588351378440857,
601
+ 8.72373610496521,
602
+ 13.252087483406067,
603
+ 1.2993822544813156,
604
+ 8.664541969299316,
605
+ 10.73633671760559,
606
+ 14.77633719921112,
607
+ 17.380879168510436,
608
+ 20.799341225624083,
609
+ 7.747032866477967,
610
+ 1.3316887146234513
611
+ ]
612
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/action/executed_action_dict.pkl ADDED
Binary file (73.8 kB). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/camera/metadata.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_0_rgb": {
3
+ "codec": "h264",
4
+ "container": "mp4",
5
+ "encoder": "libx264",
6
+ "encoding": "bgr8",
7
+ "frames": 464,
8
+ "height": 480,
9
+ "lossless": false,
10
+ "pixel_format": "yuv420p",
11
+ "quality": {
12
+ "mode": "crf",
13
+ "value": 14
14
+ },
15
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
16
+ "timestamps": "camera/timestamp.pkl::base_0",
17
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
18
+ "video": "camera/base_0_rgb.mp4",
19
+ "width": 640
20
+ },
21
+ "left_wrist_0_rgb": {
22
+ "codec": "h264",
23
+ "container": "mp4",
24
+ "encoder": "libx264",
25
+ "encoding": "bgr8",
26
+ "frames": 464,
27
+ "height": 480,
28
+ "lossless": false,
29
+ "pixel_format": "yuv420p",
30
+ "quality": {
31
+ "mode": "crf",
32
+ "value": 14
33
+ },
34
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
35
+ "timestamps": "camera/timestamp.pkl::left_wrist_0",
36
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
37
+ "video": "camera/left_wrist_0_rgb.mp4",
38
+ "width": 640
39
+ },
40
+ "right_wrist_0_rgb": {
41
+ "codec": "h264",
42
+ "container": "mp4",
43
+ "encoder": "libx264",
44
+ "encoding": "bgr8",
45
+ "frames": 464,
46
+ "height": 480,
47
+ "lossless": false,
48
+ "pixel_format": "yuv420p",
49
+ "quality": {
50
+ "mode": "crf",
51
+ "value": 14
52
+ },
53
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
54
+ "timestamps": "camera/timestamp.pkl::right_wrist_0",
55
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
56
+ "video": "camera/right_wrist_0_rgb.mp4",
57
+ "width": 640
58
+ }
59
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/camera/timestamp.pkl ADDED
Binary file (11.2 kB). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/debug/actions.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/debug/async_events.jsonl ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"event": "prediction_requested", "time_ns": 1789661857835127480, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
2
+ {"event": "plan_adopted", "time_ns": 1789661857955494359, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 106.95672602741979, "blended_steps": 0}
3
+ {"event": "prediction_requested", "time_ns": 1789661858566163792, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
4
+ {"event": "plan_adopted", "time_ns": 1789661858667895287, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.71290700463578, "blended_steps": 5}
5
+ {"event": "prediction_requested", "time_ns": 1789661859156137201, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
6
+ {"event": "plan_adopted", "time_ns": 1789661859259616519, "actions_sent": 38, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.518438012572, "blended_steps": 5}
7
+ {"event": "prediction_requested", "time_ns": 1789661859737090717, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
8
+ {"event": "plan_adopted", "time_ns": 1789661859842088238, "actions_sent": 55, "prediction": 3, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.34184599504806, "blended_steps": 5}
9
+ {"event": "prediction_requested", "time_ns": 1789661860280446339, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
10
+ {"event": "plan_adopted", "time_ns": 1789661860383411053, "actions_sent": 71, "prediction": 4, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.81968598556705, "blended_steps": 5}
11
+ {"event": "prediction_requested", "time_ns": 1789661860821853531, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
12
+ {"event": "plan_adopted", "time_ns": 1789661860926667700, "actions_sent": 87, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.13494300097227, "blended_steps": 5}
13
+ {"event": "prediction_requested", "time_ns": 1789661861407629303, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
14
+ {"event": "plan_adopted", "time_ns": 1789661861508955369, "actions_sent": 104, "prediction": 6, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.01647399668582, "blended_steps": 5}
15
+ {"event": "prediction_requested", "time_ns": 1789661861952598240, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
16
+ {"event": "plan_adopted", "time_ns": 1789661862058183419, "actions_sent": 120, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.50633700285107, "blended_steps": 5}
17
+ {"event": "prediction_requested", "time_ns": 1789661862528500514, "actions_sent": 134, "prediction": 8, "queue_remaining": 12}
18
+ {"event": "plan_adopted", "time_ns": 1789661862633151858, "actions_sent": 137, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.2239670031704, "blended_steps": 5}
19
+ {"event": "prediction_requested", "time_ns": 1789661863110288773, "actions_sent": 151, "prediction": 9, "queue_remaining": 12}
20
+ {"event": "plan_adopted", "time_ns": 1789661863213543492, "actions_sent": 154, "prediction": 9, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.34582502790727, "blended_steps": 5}
21
+ {"event": "prediction_requested", "time_ns": 1789661863651264899, "actions_sent": 167, "prediction": 10, "queue_remaining": 12}
22
+ {"event": "plan_adopted", "time_ns": 1789661863756909653, "actions_sent": 170, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 114.47988299187273, "blended_steps": 5}
23
+ {"event": "prediction_requested", "time_ns": 1789661864234779689, "actions_sent": 184, "prediction": 11, "queue_remaining": 12}
24
+ {"event": "plan_adopted", "time_ns": 1789661864348608405, "actions_sent": 187, "prediction": 11, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.43318102974445, "blended_steps": 5}
25
+ {"event": "prediction_requested", "time_ns": 1789661864791166302, "actions_sent": 200, "prediction": 12, "queue_remaining": 12}
26
+ {"event": "plan_adopted", "time_ns": 1789661864893572398, "actions_sent": 203, "prediction": 12, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.55509096919559, "blended_steps": 5}
27
+ {"event": "prediction_requested", "time_ns": 1789661865365596818, "actions_sent": 217, "prediction": 13, "queue_remaining": 12}
28
+ {"event": "plan_adopted", "time_ns": 1789661865475459507, "actions_sent": 220, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.3227740067523, "blended_steps": 5}
29
+ {"event": "prediction_requested", "time_ns": 1789661865949195553, "actions_sent": 234, "prediction": 14, "queue_remaining": 12}
30
+ {"event": "plan_adopted", "time_ns": 1789661866054276107, "actions_sent": 237, "prediction": 14, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.03399799671024, "blended_steps": 5}
31
+ {"event": "prediction_requested", "time_ns": 1789661866490848128, "actions_sent": 250, "prediction": 15, "queue_remaining": 12}
32
+ {"event": "plan_adopted", "time_ns": 1789661866597591909, "actions_sent": 253, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.84589497721754, "blended_steps": 5}
33
+ {"event": "prediction_requested", "time_ns": 1789661867074515354, "actions_sent": 267, "prediction": 16, "queue_remaining": 12}
34
+ {"event": "plan_adopted", "time_ns": 1789661867180746705, "actions_sent": 270, "prediction": 16, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.80598301673308, "blended_steps": 5}
35
+ {"event": "prediction_requested", "time_ns": 1789661867617664533, "actions_sent": 283, "prediction": 17, "queue_remaining": 12}
36
+ {"event": "plan_adopted", "time_ns": 1789661867719821442, "actions_sent": 286, "prediction": 17, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 113.39451899402775, "blended_steps": 5}
37
+ {"event": "prediction_requested", "time_ns": 1789661868195317110, "actions_sent": 300, "prediction": 18, "queue_remaining": 12}
38
+ {"event": "plan_adopted", "time_ns": 1789661868300483341, "actions_sent": 303, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.87290199007839, "blended_steps": 5}
39
+ {"event": "prediction_requested", "time_ns": 1789661868770376773, "actions_sent": 317, "prediction": 19, "queue_remaining": 12}
40
+ {"event": "plan_adopted", "time_ns": 1789661868874104026, "actions_sent": 320, "prediction": 19, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.92456197086722, "blended_steps": 5}
41
+ {"event": "prediction_requested", "time_ns": 1789661869356760570, "actions_sent": 334, "prediction": 20, "queue_remaining": 12}
42
+ {"event": "plan_adopted", "time_ns": 1789661869460285200, "actions_sent": 337, "prediction": 20, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.53401201753877, "blended_steps": 5}
43
+ {"event": "prediction_requested", "time_ns": 1789661869931298513, "actions_sent": 351, "prediction": 21, "queue_remaining": 12}
44
+ {"event": "plan_adopted", "time_ns": 1789661870034824642, "actions_sent": 354, "prediction": 21, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.27239900757559, "blended_steps": 5}
45
+ {"event": "prediction_requested", "time_ns": 1789661870508694937, "actions_sent": 368, "prediction": 22, "queue_remaining": 12}
46
+ {"event": "plan_adopted", "time_ns": 1789661870611175620, "actions_sent": 371, "prediction": 22, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.06658501178026, "blended_steps": 5}
47
+ {"event": "prediction_requested", "time_ns": 1789661871050133153, "actions_sent": 384, "prediction": 23, "queue_remaining": 12}
48
+ {"event": "plan_adopted", "time_ns": 1789661871158768033, "actions_sent": 387, "prediction": 23, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 151.11254702787846, "blended_steps": 5}
49
+ {"event": "prediction_requested", "time_ns": 1789661871595147664, "actions_sent": 400, "prediction": 24, "queue_remaining": 12}
50
+ {"event": "plan_adopted", "time_ns": 1789661871699561277, "actions_sent": 403, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.24772000708617, "blended_steps": 5}
51
+ {"event": "prediction_requested", "time_ns": 1789661872172672227, "actions_sent": 417, "prediction": 25, "queue_remaining": 12}
52
+ {"event": "plan_adopted", "time_ns": 1789661872278189536, "actions_sent": 420, "prediction": 25, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.49395999871194, "blended_steps": 5}
53
+ {"event": "prediction_requested", "time_ns": 1789661872726015716, "actions_sent": 433, "prediction": 26, "queue_remaining": 12}
54
+ {"event": "plan_adopted", "time_ns": 1789661872831675898, "actions_sent": 436, "prediction": 26, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.12466000346467, "blended_steps": 5}
55
+ {"event": "operator_stopped", "time_ns": 1789661873051439311, "actions_sent": 443, "result": "failure"}
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/event/event_dict.pkl ADDED
Binary file (109 Bytes). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/action.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_action_recorder": {
3
+ "counts": {
4
+ "action.executed": 443,
5
+ "camera.base_0_rgb": 464,
6
+ "camera.left_wrist_0_rgb": 464,
7
+ "camera.right_wrist_0_rgb": 464,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 3690,
11
+ "robot.robot_state": 1854
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0005",
14
+ "executed_actions": 443,
15
+ "failure": "",
16
+ "metadata": {
17
+ "round_number": 5,
18
+ "run_id": "20260918_001636_597854_round_0005",
19
+ "workflow": "openpi_rollout"
20
+ },
21
+ "policy_action_chunks": 0,
22
+ "record_id": "prometheus_action_recorder",
23
+ "record_mode": "action",
24
+ "schema": "prometheus_raw_episode_v1",
25
+ "status": "saved",
26
+ "updated_at_unix": 1789661873.1638095
27
+ }
28
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/camera.json ADDED
@@ -0,0 +1,101 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_camera_base_0_recorder": {
3
+ "camera_frames": {
4
+ "base_0_rgb": 464
5
+ },
6
+ "camera_timestamp_samples": 464,
7
+ "complete_sensor_bundles": 464,
8
+ "counts": {
9
+ "action.executed": 443,
10
+ "camera.base_0_rgb": 464,
11
+ "camera.left_wrist_0_rgb": 464,
12
+ "camera.right_wrist_0_rgb": 464,
13
+ "dropped": 0,
14
+ "event.workflow": 1,
15
+ "items": 3690,
16
+ "robot.robot_state": 1854
17
+ },
18
+ "dropped_incomplete_sensor_bundles": 0,
19
+ "duplicate_sensor_messages": 0,
20
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0005",
21
+ "failure": "",
22
+ "metadata": {
23
+ "round_number": 5,
24
+ "run_id": "20260918_001636_597854_round_0005",
25
+ "workflow": "openpi_rollout"
26
+ },
27
+ "record_id": "prometheus_camera_base_0_recorder",
28
+ "record_mode": "sensor",
29
+ "schema": "prometheus_raw_episode_v1",
30
+ "sensor_kind": "camera",
31
+ "sensor_name": "base_0",
32
+ "status": "saved",
33
+ "updated_at_unix": 1789661873.1638095
34
+ },
35
+ "prometheus_camera_left_wrist_0_recorder": {
36
+ "camera_frames": {
37
+ "left_wrist_0_rgb": 464
38
+ },
39
+ "camera_timestamp_samples": 464,
40
+ "complete_sensor_bundles": 464,
41
+ "counts": {
42
+ "action.executed": 443,
43
+ "camera.base_0_rgb": 464,
44
+ "camera.left_wrist_0_rgb": 464,
45
+ "camera.right_wrist_0_rgb": 464,
46
+ "dropped": 0,
47
+ "event.workflow": 1,
48
+ "items": 3690,
49
+ "robot.robot_state": 1854
50
+ },
51
+ "dropped_incomplete_sensor_bundles": 0,
52
+ "duplicate_sensor_messages": 0,
53
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0005",
54
+ "failure": "",
55
+ "metadata": {
56
+ "round_number": 5,
57
+ "run_id": "20260918_001636_597854_round_0005",
58
+ "workflow": "openpi_rollout"
59
+ },
60
+ "record_id": "prometheus_camera_left_wrist_0_recorder",
61
+ "record_mode": "sensor",
62
+ "schema": "prometheus_raw_episode_v1",
63
+ "sensor_kind": "camera",
64
+ "sensor_name": "left_wrist_0",
65
+ "status": "saved",
66
+ "updated_at_unix": 1789661873.1638095
67
+ },
68
+ "prometheus_camera_right_wrist_0_recorder": {
69
+ "camera_frames": {
70
+ "right_wrist_0_rgb": 464
71
+ },
72
+ "camera_timestamp_samples": 464,
73
+ "complete_sensor_bundles": 464,
74
+ "counts": {
75
+ "action.executed": 443,
76
+ "camera.base_0_rgb": 464,
77
+ "camera.left_wrist_0_rgb": 464,
78
+ "camera.right_wrist_0_rgb": 464,
79
+ "dropped": 0,
80
+ "event.workflow": 1,
81
+ "items": 3690,
82
+ "robot.robot_state": 1854
83
+ },
84
+ "dropped_incomplete_sensor_bundles": 0,
85
+ "duplicate_sensor_messages": 0,
86
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0005",
87
+ "failure": "",
88
+ "metadata": {
89
+ "round_number": 5,
90
+ "run_id": "20260918_001636_597854_round_0005",
91
+ "workflow": "openpi_rollout"
92
+ },
93
+ "record_id": "prometheus_camera_right_wrist_0_recorder",
94
+ "record_mode": "sensor",
95
+ "schema": "prometheus_raw_episode_v1",
96
+ "sensor_kind": "camera",
97
+ "sensor_name": "right_wrist_0",
98
+ "status": "saved",
99
+ "updated_at_unix": 1789661873.1638095
100
+ }
101
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/event.json ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_event_recorder": {
3
+ "counts": {
4
+ "action.executed": 443,
5
+ "camera.base_0_rgb": 464,
6
+ "camera.left_wrist_0_rgb": 464,
7
+ "camera.right_wrist_0_rgb": 464,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 3690,
11
+ "robot.robot_state": 1854
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0005",
14
+ "event_samples": 1,
15
+ "failure": "",
16
+ "metadata": {
17
+ "round_number": 5,
18
+ "run_id": "20260918_001636_597854_round_0005",
19
+ "workflow": "openpi_rollout"
20
+ },
21
+ "record_id": "prometheus_event_recorder",
22
+ "record_mode": "event",
23
+ "schema": "prometheus_raw_episode_v1",
24
+ "status": "saved",
25
+ "updated_at_unix": 1789661873.1638095
26
+ }
27
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/robot.json ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_robot_recorder": {
3
+ "counts": {
4
+ "action.executed": 443,
5
+ "camera.base_0_rgb": 464,
6
+ "camera.left_wrist_0_rgb": 464,
7
+ "camera.right_wrist_0_rgb": 464,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 3690,
11
+ "robot.robot_state": 1854
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0005",
14
+ "failure": "",
15
+ "incomplete_robot_samples": {
16
+ "left": 1854,
17
+ "right": 1854
18
+ },
19
+ "metadata": {
20
+ "round_number": 5,
21
+ "run_id": "20260918_001636_597854_round_0005",
22
+ "workflow": "openpi_rollout"
23
+ },
24
+ "pending_robot_samples": 0,
25
+ "plot_outputs": [],
26
+ "record_id": "prometheus_robot_recorder",
27
+ "record_mode": "robot",
28
+ "robot_samples": {
29
+ "left": 1854,
30
+ "right": 1854
31
+ },
32
+ "schema": "prometheus_raw_episode_v1",
33
+ "status": "saved",
34
+ "updated_at_unix": 1789661873.1638095
35
+ }
36
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/manifests/tactile.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {}
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0005/workflow_manifest.json ADDED
@@ -0,0 +1,613 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "acceleration_limits": [
3
+ 118.7426430016755,
4
+ 165.012131490699,
5
+ 134.04180689399348,
6
+ 274.86399842805685,
7
+ 195.25766555964873,
8
+ 454.5340796113012,
9
+ 109.40927818565227,
10
+ 178.49339036295515,
11
+ 476.6444930964641,
12
+ 557.9080874526715,
13
+ 587.1810202100611,
14
+ 362.1711802492357,
15
+ 208.8803265352197,
16
+ 208.9010343469399
17
+ ],
18
+ "actions_sent": 443,
19
+ "async_execution": {
20
+ "blend_steps": 5,
21
+ "chunk_counter_meaning": "completed groups of 30 acknowledged targets",
22
+ "expired_prefix_actions": 114,
23
+ "mode": "async_overlap",
24
+ "plans_adopted": 27,
25
+ "prediction_horizon": 30,
26
+ "predictions_requested": 27,
27
+ "prefetch_steps": 12,
28
+ "queue_underruns": 0,
29
+ "target_budget": 1200
30
+ },
31
+ "chunks": 14,
32
+ "command_velocity_limits": [
33
+ 7.326937734087213,
34
+ 7.492612143357643,
35
+ 9.039960411055707,
36
+ 10.989442599937178,
37
+ 11.822247140410347,
38
+ 21.729793477053846,
39
+ 4.549583926449072,
40
+ 9.542591565847905,
41
+ 16.49783855493206,
42
+ 19.18122166486826,
43
+ 20.271305218109156,
44
+ 13.274309575261345,
45
+ 14.009155302643812,
46
+ 4.764187300355128
47
+ ],
48
+ "config": {
49
+ "async_inference": {
50
+ "blend_steps": 5,
51
+ "enabled": true,
52
+ "prefetch_steps": 12
53
+ },
54
+ "data": {
55
+ "bridge": {
56
+ "enabled": true,
57
+ "name": "openpi_observe_20260918_001636_597854",
58
+ "qos_depth": 10,
59
+ "sensor_qos": "reliable",
60
+ "stamp_source": "header",
61
+ "wait_all_streams": true
62
+ },
63
+ "history": 64,
64
+ "mode": "owned",
65
+ "name": "openpi_data",
66
+ "numpy": {
67
+ "enabled": true
68
+ },
69
+ "recording": {
70
+ "camera_encoder": "libx264",
71
+ "default_event_value": null,
72
+ "enable_plots": false,
73
+ "enabled": true,
74
+ "fps": 30.0,
75
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data",
76
+ "queue_size": 4096
77
+ },
78
+ "streams": {
79
+ "base_0_color": {
80
+ "domain": "sensor",
81
+ "msg_type": "sensor_msgs.msg.Image",
82
+ "ros_domain_id": 22,
83
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
84
+ },
85
+ "left_wrist_0_color": {
86
+ "domain": "sensor",
87
+ "msg_type": "sensor_msgs.msg.Image",
88
+ "ros_domain_id": 22,
89
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
90
+ },
91
+ "right_wrist_0_color": {
92
+ "domain": "sensor",
93
+ "msg_type": "sensor_msgs.msg.Image",
94
+ "ros_domain_id": 22,
95
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
96
+ },
97
+ "robot_state": {
98
+ "domain": "robot",
99
+ "msg_type": "sensor_msgs.msg.JointState",
100
+ "ros_domain_id": 21,
101
+ "topic": "/prometheus/robots/yam/state"
102
+ }
103
+ }
104
+ },
105
+ "execute": true,
106
+ "execution": {
107
+ "command_ack_timeout_s": 0.1,
108
+ "hold_settle_s": 0.2,
109
+ "hold_settle_timeout_s": 5.0,
110
+ "max_prediction_age_s": 0.5,
111
+ "max_schedule_lateness_s": 0.105
112
+ },
113
+ "hardware": {
114
+ "mode": "owned",
115
+ "name": "openpi_hardware",
116
+ "sensors": "auto",
117
+ "streams": "auto"
118
+ },
119
+ "policy": {
120
+ "action_hz": 30.0,
121
+ "connect_timeout_s": 10.0,
122
+ "host": "127.0.0.1",
123
+ "max_observation_age_s": 0.5,
124
+ "observation_wait_timeout_s": 1.0,
125
+ "port": 8000,
126
+ "prompt": "Pick up the banana with the right arm, hand it over to the left arm, and place it on the plate.",
127
+ "response_timeout_s": 120.0,
128
+ "slop_ms": 20.0
129
+ },
130
+ "preview": {
131
+ "enabled": true,
132
+ "fps": 20.0,
133
+ "height": 720,
134
+ "host": "127.0.0.1",
135
+ "mode": "local",
136
+ "port": 7860,
137
+ "refresh_ms": 100,
138
+ "stale_timeout_s": 1.0,
139
+ "ui_mode": "openpi",
140
+ "width": 1280,
141
+ "window": "Pi0.5 - Async execution"
142
+ },
143
+ "robot": {
144
+ "_target_": "prometheus.nodes.robots.yam.resolve_robot",
145
+ "cameras": {
146
+ "camera_info": false,
147
+ "capture_height": 480,
148
+ "capture_hz": 30,
149
+ "capture_width": 640,
150
+ "collect_ir": false,
151
+ "ir": false,
152
+ "prepub_resize": 1.0,
153
+ "publish_hz": 30,
154
+ "qos": "reliable",
155
+ "serial_no": {
156
+ "base_0": "260322272085",
157
+ "left_wrist_0": "260422275825",
158
+ "right_wrist_0": "260322279382"
159
+ }
160
+ },
161
+ "collection_input_source": "pedal,tty",
162
+ "collection_pedal": {
163
+ "confirm_presses": 2,
164
+ "confirm_window_s": 1.0,
165
+ "debounce_s": 0.05,
166
+ "devices": [
167
+ "/dev/input/prometheus-pedal",
168
+ "/dev/input/prometheus-pedal-aux"
169
+ ],
170
+ "exclusive": true,
171
+ "pedal_map": {
172
+ "2": 0,
173
+ "3": 1,
174
+ "4": 2,
175
+ "5": 3,
176
+ "30": 0,
177
+ "32": 3,
178
+ "46": 2,
179
+ "48": 1
180
+ }
181
+ },
182
+ "control_domain_id": 21,
183
+ "id": "yam",
184
+ "robot": {
185
+ "action_space": "abs_qpos",
186
+ "alignment_duration_s": 3.0,
187
+ "bilateral_kp": 0.0,
188
+ "collection_mode": "policy",
189
+ "control_hz": 120,
190
+ "enable_auto_recovery": false,
191
+ "follower_arm": "yam_ultra",
192
+ "follower_can": {
193
+ "left": "can_follower_l",
194
+ "right": "can_follower_r"
195
+ },
196
+ "follower_gripper": "linear_4310",
197
+ "gripper_width_m": 0.096,
198
+ "home_return": {
199
+ "enabled": false,
200
+ "feedback_timeout_s": 0.5,
201
+ "kp_scale": 1.0,
202
+ "max_velocity": 0.3,
203
+ "min_duration_s": 3.0,
204
+ "position_tolerance": 0.05,
205
+ "settle_s": 0.3,
206
+ "timeout_s": 25.0,
207
+ "tracking_error_limit": 0.35,
208
+ "velocity_tolerance": 0.1
209
+ },
210
+ "leader_arm": "yam",
211
+ "leader_can": null,
212
+ "leader_gripper": "yam_teaching_handle",
213
+ "policy_control": {
214
+ "acceleration_limits": [
215
+ 118.7426430016755,
216
+ 165.012131490699,
217
+ 134.04180689399348,
218
+ 274.86399842805685,
219
+ 195.25766555964873,
220
+ 454.5340796113012,
221
+ 109.40927818565227,
222
+ 178.49339036295515,
223
+ 476.6444930964641,
224
+ 557.9080874526715,
225
+ 587.1810202100611,
226
+ 362.1711802492357,
227
+ 208.8803265352197,
228
+ 208.9010343469399
229
+ ],
230
+ "command_timeout_s": 0.25,
231
+ "command_velocity_limits": [
232
+ 7.326937734087213,
233
+ 7.492612143357643,
234
+ 9.039960411055707,
235
+ 10.989442599937178,
236
+ 11.822247140410347,
237
+ 21.729793477053846,
238
+ 4.549583926449072,
239
+ 9.542591565847905,
240
+ 16.49783855493206,
241
+ 19.18122166486826,
242
+ 20.271305218109156,
243
+ 13.274309575261345,
244
+ 14.009155302643812,
245
+ 4.764187300355128
246
+ ],
247
+ "feedback_timeout_s": 0.2,
248
+ "hz": 30.0,
249
+ "stationary_velocity_limits": [
250
+ 0.09619047798216343,
251
+ 0.09619047798216343,
252
+ 0.09125763334333897,
253
+ 0.09619047798216343,
254
+ 0.11098901189863682,
255
+ 0.18498168900609016,
256
+ 0.014679903751239181,
257
+ 0.10112332262098789,
258
+ 0.11098901189863682,
259
+ 0.10112332262098789,
260
+ 0.11098901189863682,
261
+ 0.14058608725667,
262
+ 0.2885714414715767,
263
+ 0.014345181323587895
264
+ ],
265
+ "stop_file": "/tmp/prometheus_openpi/STOP",
266
+ "tracking_error_limits": [
267
+ 0.20073625504970552,
268
+ 0.309388148188591,
269
+ 0.29782940477132797,
270
+ 0.22655070275068284,
271
+ 0.5001068050414323,
272
+ 0.7771305423974991,
273
+ 0.06952205713838339,
274
+ 0.268162048868835,
275
+ 0.3556229412555695,
276
+ 0.4542571985721588,
277
+ 0.3109293460845947,
278
+ 1.0653276860713958,
279
+ 0.45733958966098726,
280
+ 0.07211417473852634
281
+ ],
282
+ "urdf": "/home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf",
283
+ "velocity_limits": [
284
+ 6.503956017494202,
285
+ 7.554651925563812,
286
+ 9.670842275619506,
287
+ 10.588351378440857,
288
+ 8.72373610496521,
289
+ 13.252087483406067,
290
+ 1.2993822544813156,
291
+ 8.664541969299316,
292
+ 10.73633671760559,
293
+ 14.77633719921112,
294
+ 17.380879168510436,
295
+ 20.799341225624083,
296
+ 7.747032866477967,
297
+ 1.3316887146234513
298
+ ]
299
+ },
300
+ "require_enable_button": false,
301
+ "sim": false,
302
+ "state_publish_hz": 120,
303
+ "teleoperation_enabled": false
304
+ },
305
+ "sensor_domain_id": 22
306
+ },
307
+ "ros": {
308
+ "localhost_only": true
309
+ },
310
+ "run": {
311
+ "action_steps": 30,
312
+ "id": "20260918_001636_597854_round_0005",
313
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0005",
314
+ "runtime_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime",
315
+ "steps": 40,
316
+ "wait_ready_timeout_s": 30.0
317
+ }
318
+ },
319
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0005",
320
+ "next_round_confirmed": true,
321
+ "observation_not_before_ns": 1789661857833088342,
322
+ "operator_command_file": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime/operator_command",
323
+ "operator_drag_verified": true,
324
+ "operator_result": "failure",
325
+ "operator_stopped": true,
326
+ "policy_control_limits": {
327
+ "acceleration_limits": [
328
+ 118.7426430016755,
329
+ 165.012131490699,
330
+ 134.04180689399348,
331
+ 274.86399842805685,
332
+ 195.25766555964873,
333
+ 454.5340796113012,
334
+ 109.40927818565227,
335
+ 178.49339036295515,
336
+ 476.6444930964641,
337
+ 557.9080874526715,
338
+ 587.1810202100611,
339
+ 362.1711802492357,
340
+ 208.8803265352197,
341
+ 208.9010343469399
342
+ ],
343
+ "armed": false,
344
+ "command_guard_failure": null,
345
+ "command_velocity_limits": [
346
+ 7.326937734087213,
347
+ 7.492612143357643,
348
+ 9.039960411055707,
349
+ 10.989442599937178,
350
+ 11.822247140410347,
351
+ 21.729793477053846,
352
+ 4.549583926449072,
353
+ 9.542591565847905,
354
+ 16.49783855493206,
355
+ 19.18122166486826,
356
+ 20.271305218109156,
357
+ 13.274309575261345,
358
+ 14.009155302643812,
359
+ 4.764187300355128
360
+ ],
361
+ "dragging": false,
362
+ "fault": null,
363
+ "holding": false,
364
+ "policy_finished": false,
365
+ "position_guard_failure": null,
366
+ "position_limit_source": "sdk",
367
+ "position_limits": [
368
+ [
369
+ -2.7679899999999997,
370
+ 3.29159
371
+ ],
372
+ [
373
+ -0.15,
374
+ 3.81519
375
+ ],
376
+ [
377
+ -0.15,
378
+ 3.29159
379
+ ],
380
+ [
381
+ -1.84297,
382
+ 1.7207999999999999
383
+ ],
384
+ [
385
+ -1.7207999999999999,
386
+ 1.7207999999999999
387
+ ],
388
+ [
389
+ -2.2443999999999997,
390
+ 2.2443999999999997
391
+ ],
392
+ [
393
+ 0.0,
394
+ 0.096
395
+ ],
396
+ [
397
+ -2.7679899999999997,
398
+ 3.29159
399
+ ],
400
+ [
401
+ -0.15,
402
+ 3.81519
403
+ ],
404
+ [
405
+ -0.15,
406
+ 3.29159
407
+ ],
408
+ [
409
+ -1.84297,
410
+ 1.7207999999999999
411
+ ],
412
+ [
413
+ -1.7207999999999999,
414
+ 1.7207999999999999
415
+ ],
416
+ [
417
+ -2.2443999999999997,
418
+ 2.2443999999999997
419
+ ],
420
+ [
421
+ 0.0,
422
+ 0.096
423
+ ]
424
+ ],
425
+ "stationary_velocity_limits": [
426
+ 0.09619047798216343,
427
+ 0.09619047798216343,
428
+ 0.09125763334333897,
429
+ 0.09619047798216343,
430
+ 0.11098901189863682,
431
+ 0.18498168900609016,
432
+ 0.014679903751239181,
433
+ 0.10112332262098789,
434
+ 0.11098901189863682,
435
+ 0.10112332262098789,
436
+ 0.11098901189863682,
437
+ 0.14058608725667,
438
+ 0.2885714414715767,
439
+ 0.014345181323587895
440
+ ],
441
+ "stop_file": "/tmp/prometheus_openpi/STOP",
442
+ "tracking_error_limits": [
443
+ 0.20073625504970552,
444
+ 0.309388148188591,
445
+ 0.29782940477132797,
446
+ 0.22655070275068284,
447
+ 0.5001068050414323,
448
+ 0.7771305423974991,
449
+ 0.06952205713838339,
450
+ 0.268162048868835,
451
+ 0.3556229412555695,
452
+ 0.4542571985721588,
453
+ 0.3109293460845947,
454
+ 1.0653276860713958,
455
+ 0.45733958966098726,
456
+ 0.07211417473852634
457
+ ],
458
+ "velocity_limits": [
459
+ 6.503956017494202,
460
+ 7.554651925563812,
461
+ 9.670842275619506,
462
+ 10.588351378440857,
463
+ 8.72373610496521,
464
+ 13.252087483406067,
465
+ 1.2993822544813156,
466
+ 8.664541969299316,
467
+ 10.73633671760559,
468
+ 14.77633719921112,
469
+ 17.380879168510436,
470
+ 20.799341225624083,
471
+ 7.747032866477967,
472
+ 1.3316887146234513
473
+ ]
474
+ },
475
+ "position_limit_source": "sdk",
476
+ "position_limits": [
477
+ [
478
+ -2.7679899999999997,
479
+ 3.29159
480
+ ],
481
+ [
482
+ -0.15,
483
+ 3.81519
484
+ ],
485
+ [
486
+ -0.15,
487
+ 3.29159
488
+ ],
489
+ [
490
+ -1.84297,
491
+ 1.7207999999999999
492
+ ],
493
+ [
494
+ -1.7207999999999999,
495
+ 1.7207999999999999
496
+ ],
497
+ [
498
+ -2.2443999999999997,
499
+ 2.2443999999999997
500
+ ],
501
+ [
502
+ 0.0,
503
+ 0.096
504
+ ],
505
+ [
506
+ -2.7679899999999997,
507
+ 3.29159
508
+ ],
509
+ [
510
+ -0.15,
511
+ 3.81519
512
+ ],
513
+ [
514
+ -0.15,
515
+ 3.29159
516
+ ],
517
+ [
518
+ -1.84297,
519
+ 1.7207999999999999
520
+ ],
521
+ [
522
+ -1.7207999999999999,
523
+ 1.7207999999999999
524
+ ],
525
+ [
526
+ -2.2443999999999997,
527
+ 2.2443999999999997
528
+ ],
529
+ [
530
+ 0.0,
531
+ 0.096
532
+ ]
533
+ ],
534
+ "recording": {
535
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0005",
536
+ "failure": "",
537
+ "paused": false,
538
+ "queue_size": 0,
539
+ "queues": {
540
+ "action": 0,
541
+ "camera:base_0": 0,
542
+ "camera:left_wrist_0": 0,
543
+ "camera:right_wrist_0": 0,
544
+ "event": 0,
545
+ "robot": 0
546
+ },
547
+ "record_counts": {
548
+ "action.executed": 443,
549
+ "camera.base_0_rgb": 464,
550
+ "camera.left_wrist_0_rgb": 464,
551
+ "camera.right_wrist_0_rgb": 464,
552
+ "dropped": 0,
553
+ "event.workflow": 1,
554
+ "items": 3690,
555
+ "robot.robot_state": 1854
556
+ },
557
+ "recording": false,
558
+ "recording_enabled": true
559
+ },
560
+ "reviewed_at_ns": 1789661873050952869,
561
+ "round_number": 5,
562
+ "stationary_velocity_limits": [
563
+ 0.09619047798216343,
564
+ 0.09619047798216343,
565
+ 0.09125763334333897,
566
+ 0.09619047798216343,
567
+ 0.11098901189863682,
568
+ 0.18498168900609016,
569
+ 0.014679903751239181,
570
+ 0.10112332262098789,
571
+ 0.11098901189863682,
572
+ 0.10112332262098789,
573
+ 0.11098901189863682,
574
+ 0.14058608725667,
575
+ 0.2885714414715767,
576
+ 0.014345181323587895
577
+ ],
578
+ "status": "completed",
579
+ "task_success": false,
580
+ "termination_reason": "operator_review",
581
+ "tracking_error_limits": [
582
+ 0.20073625504970552,
583
+ 0.309388148188591,
584
+ 0.29782940477132797,
585
+ 0.22655070275068284,
586
+ 0.5001068050414323,
587
+ 0.7771305423974991,
588
+ 0.06952205713838339,
589
+ 0.268162048868835,
590
+ 0.3556229412555695,
591
+ 0.4542571985721588,
592
+ 0.3109293460845947,
593
+ 1.0653276860713958,
594
+ 0.45733958966098726,
595
+ 0.07211417473852634
596
+ ],
597
+ "velocity_limits": [
598
+ 6.503956017494202,
599
+ 7.554651925563812,
600
+ 9.670842275619506,
601
+ 10.588351378440857,
602
+ 8.72373610496521,
603
+ 13.252087483406067,
604
+ 1.2993822544813156,
605
+ 8.664541969299316,
606
+ 10.73633671760559,
607
+ 14.77633719921112,
608
+ 17.380879168510436,
609
+ 20.799341225624083,
610
+ 7.747032866477967,
611
+ 1.3316887146234513
612
+ ]
613
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/camera/metadata.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_0_rgb": {
3
+ "codec": "h264",
4
+ "container": "mp4",
5
+ "encoder": "libx264",
6
+ "encoding": "bgr8",
7
+ "frames": 1240,
8
+ "height": 480,
9
+ "lossless": false,
10
+ "pixel_format": "yuv420p",
11
+ "quality": {
12
+ "mode": "crf",
13
+ "value": 14
14
+ },
15
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
16
+ "timestamps": "camera/timestamp.pkl::base_0",
17
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
18
+ "video": "camera/base_0_rgb.mp4",
19
+ "width": 640
20
+ },
21
+ "left_wrist_0_rgb": {
22
+ "codec": "h264",
23
+ "container": "mp4",
24
+ "encoder": "libx264",
25
+ "encoding": "bgr8",
26
+ "frames": 1240,
27
+ "height": 480,
28
+ "lossless": false,
29
+ "pixel_format": "yuv420p",
30
+ "quality": {
31
+ "mode": "crf",
32
+ "value": 14
33
+ },
34
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
35
+ "timestamps": "camera/timestamp.pkl::left_wrist_0",
36
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
37
+ "video": "camera/left_wrist_0_rgb.mp4",
38
+ "width": 640
39
+ },
40
+ "right_wrist_0_rgb": {
41
+ "codec": "h264",
42
+ "container": "mp4",
43
+ "encoder": "libx264",
44
+ "encoding": "bgr8",
45
+ "frames": 1240,
46
+ "height": 480,
47
+ "lossless": false,
48
+ "pixel_format": "yuv420p",
49
+ "quality": {
50
+ "mode": "crf",
51
+ "value": 14
52
+ },
53
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
54
+ "timestamps": "camera/timestamp.pkl::right_wrist_0",
55
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
56
+ "video": "camera/right_wrist_0_rgb.mp4",
57
+ "width": 640
58
+ }
59
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/camera/timestamp.pkl ADDED
Binary file (29.8 kB). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/debug/actions.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/debug/async_events.jsonl ADDED
@@ -0,0 +1,145 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"event": "prediction_requested", "time_ns": 1789661901943160636, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
2
+ {"event": "plan_adopted", "time_ns": 1789661902061082018, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 102.56226698402315, "blended_steps": 0}
3
+ {"event": "prediction_requested", "time_ns": 1789661902670309836, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
4
+ {"event": "plan_adopted", "time_ns": 1789661902776818858, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.57815802958794, "blended_steps": 5}
5
+ {"event": "prediction_requested", "time_ns": 1789661903245914609, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
6
+ {"event": "plan_adopted", "time_ns": 1789661903350285614, "actions_sent": 38, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 133.00745602464303, "blended_steps": 5}
7
+ {"event": "prediction_requested", "time_ns": 1789661903823059745, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
8
+ {"event": "plan_adopted", "time_ns": 1789661903925265793, "actions_sent": 55, "prediction": 3, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.74538298579864, "blended_steps": 5}
9
+ {"event": "prediction_requested", "time_ns": 1789661904363772193, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
10
+ {"event": "plan_adopted", "time_ns": 1789661904467384267, "actions_sent": 71, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.4853119882755, "blended_steps": 5}
11
+ {"event": "prediction_requested", "time_ns": 1789661904941447930, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
12
+ {"event": "plan_adopted", "time_ns": 1789661905052338866, "actions_sent": 88, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.54976900457405, "blended_steps": 5}
13
+ {"event": "prediction_requested", "time_ns": 1789661905524796914, "actions_sent": 102, "prediction": 6, "queue_remaining": 12}
14
+ {"event": "plan_adopted", "time_ns": 1789661905627988801, "actions_sent": 105, "prediction": 6, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.28416002192535, "blended_steps": 5}
15
+ {"event": "prediction_requested", "time_ns": 1789661906073359338, "actions_sent": 118, "prediction": 7, "queue_remaining": 12}
16
+ {"event": "plan_adopted", "time_ns": 1789661906175116995, "actions_sent": 121, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.37105598696508, "blended_steps": 5}
17
+ {"event": "prediction_requested", "time_ns": 1789661906644279884, "actions_sent": 135, "prediction": 8, "queue_remaining": 12}
18
+ {"event": "plan_adopted", "time_ns": 1789661906749225741, "actions_sent": 138, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.04372201976366, "blended_steps": 5}
19
+ {"event": "prediction_requested", "time_ns": 1789661907223761720, "actions_sent": 152, "prediction": 9, "queue_remaining": 12}
20
+ {"event": "plan_adopted", "time_ns": 1789661907326219731, "actions_sent": 155, "prediction": 9, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.80669296951964, "blended_steps": 5}
21
+ {"event": "prediction_requested", "time_ns": 1789661907764803650, "actions_sent": 168, "prediction": 10, "queue_remaining": 12}
22
+ {"event": "plan_adopted", "time_ns": 1789661907869133754, "actions_sent": 171, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.38904097001068, "blended_steps": 5}
23
+ {"event": "prediction_requested", "time_ns": 1789661908344640664, "actions_sent": 185, "prediction": 11, "queue_remaining": 12}
24
+ {"event": "plan_adopted", "time_ns": 1789661908447875716, "actions_sent": 188, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.16018201597035, "blended_steps": 5}
25
+ {"event": "prediction_requested", "time_ns": 1789661908919378625, "actions_sent": 202, "prediction": 12, "queue_remaining": 12}
26
+ {"event": "plan_adopted", "time_ns": 1789661909024386358, "actions_sent": 205, "prediction": 12, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.43562701367773, "blended_steps": 5}
27
+ {"event": "prediction_requested", "time_ns": 1789661909464600991, "actions_sent": 218, "prediction": 13, "queue_remaining": 12}
28
+ {"event": "plan_adopted", "time_ns": 1789661909567338612, "actions_sent": 221, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 116.58318698755465, "blended_steps": 5}
29
+ {"event": "prediction_requested", "time_ns": 1789661910037961231, "actions_sent": 235, "prediction": 14, "queue_remaining": 12}
30
+ {"event": "plan_adopted", "time_ns": 1789661910140338659, "actions_sent": 238, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.66780700883828, "blended_steps": 5}
31
+ {"event": "prediction_requested", "time_ns": 1789661910619197321, "actions_sent": 252, "prediction": 15, "queue_remaining": 12}
32
+ {"event": "plan_adopted", "time_ns": 1789661910724859234, "actions_sent": 255, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 106.29000098560937, "blended_steps": 5}
33
+ {"event": "prediction_requested", "time_ns": 1789661911200641068, "actions_sent": 269, "prediction": 16, "queue_remaining": 12}
34
+ {"event": "plan_adopted", "time_ns": 1789661911305443692, "actions_sent": 272, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.57186598354019, "blended_steps": 5}
35
+ {"event": "prediction_requested", "time_ns": 1789661911777806678, "actions_sent": 286, "prediction": 17, "queue_remaining": 12}
36
+ {"event": "plan_adopted", "time_ns": 1789661911880904858, "actions_sent": 289, "prediction": 17, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.11877100123093, "blended_steps": 5}
37
+ {"event": "prediction_requested", "time_ns": 1789661912350637994, "actions_sent": 303, "prediction": 18, "queue_remaining": 12}
38
+ {"event": "plan_adopted", "time_ns": 1789661912454703916, "actions_sent": 306, "prediction": 18, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.38562502455898, "blended_steps": 5}
39
+ {"event": "prediction_requested", "time_ns": 1789661912891300373, "actions_sent": 319, "prediction": 19, "queue_remaining": 12}
40
+ {"event": "plan_adopted", "time_ns": 1789661912998665653, "actions_sent": 322, "prediction": 19, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.53121002204716, "blended_steps": 5}
41
+ {"event": "prediction_requested", "time_ns": 1789661913435271089, "actions_sent": 335, "prediction": 20, "queue_remaining": 12}
42
+ {"event": "plan_adopted", "time_ns": 1789661913539479372, "actions_sent": 338, "prediction": 20, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.45175699656829, "blended_steps": 5}
43
+ {"event": "prediction_requested", "time_ns": 1789661914027265634, "actions_sent": 352, "prediction": 21, "queue_remaining": 12}
44
+ {"event": "plan_adopted", "time_ns": 1789661914132600422, "actions_sent": 355, "prediction": 21, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.6625210228376, "blended_steps": 5}
45
+ {"event": "prediction_requested", "time_ns": 1789661914575500469, "actions_sent": 368, "prediction": 22, "queue_remaining": 12}
46
+ {"event": "plan_adopted", "time_ns": 1789661914682779262, "actions_sent": 371, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.72765797469765, "blended_steps": 5}
47
+ {"event": "prediction_requested", "time_ns": 1789661915158949687, "actions_sent": 385, "prediction": 23, "queue_remaining": 12}
48
+ {"event": "plan_adopted", "time_ns": 1789661915263024280, "actions_sent": 388, "prediction": 23, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.529309989186, "blended_steps": 5}
49
+ {"event": "prediction_requested", "time_ns": 1789661915701756502, "actions_sent": 401, "prediction": 24, "queue_remaining": 12}
50
+ {"event": "plan_adopted", "time_ns": 1789661915806564013, "actions_sent": 404, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.58681400190108, "blended_steps": 5}
51
+ {"event": "prediction_requested", "time_ns": 1789661916289355530, "actions_sent": 418, "prediction": 25, "queue_remaining": 12}
52
+ {"event": "plan_adopted", "time_ns": 1789661916399182417, "actions_sent": 421, "prediction": 25, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.0636450056918, "blended_steps": 5}
53
+ {"event": "prediction_requested", "time_ns": 1789661916839651794, "actions_sent": 434, "prediction": 26, "queue_remaining": 12}
54
+ {"event": "plan_adopted", "time_ns": 1789661916947743736, "actions_sent": 437, "prediction": 26, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.4679640037939, "blended_steps": 5}
55
+ {"event": "prediction_requested", "time_ns": 1789661917427627326, "actions_sent": 451, "prediction": 27, "queue_remaining": 12}
56
+ {"event": "plan_adopted", "time_ns": 1789661917538854105, "actions_sent": 454, "prediction": 27, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 113.55257497052662, "blended_steps": 5}
57
+ {"event": "prediction_requested", "time_ns": 1789661918009527146, "actions_sent": 468, "prediction": 28, "queue_remaining": 12}
58
+ {"event": "plan_adopted", "time_ns": 1789661918117350990, "actions_sent": 471, "prediction": 28, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.3403499876149, "blended_steps": 5}
59
+ {"event": "prediction_requested", "time_ns": 1789661918588386259, "actions_sent": 485, "prediction": 29, "queue_remaining": 12}
60
+ {"event": "plan_adopted", "time_ns": 1789661918691783678, "actions_sent": 488, "prediction": 29, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.8977929998655, "blended_steps": 5}
61
+ {"event": "prediction_requested", "time_ns": 1789661919132461751, "actions_sent": 501, "prediction": 30, "queue_remaining": 12}
62
+ {"event": "plan_adopted", "time_ns": 1789661919240129526, "actions_sent": 504, "prediction": 30, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.23869200795889, "blended_steps": 5}
63
+ {"event": "prediction_requested", "time_ns": 1789661919711484750, "actions_sent": 518, "prediction": 31, "queue_remaining": 12}
64
+ {"event": "plan_adopted", "time_ns": 1789661919818885930, "actions_sent": 521, "prediction": 31, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.29154001176357, "blended_steps": 5}
65
+ {"event": "prediction_requested", "time_ns": 1789661920289869113, "actions_sent": 535, "prediction": 32, "queue_remaining": 12}
66
+ {"event": "plan_adopted", "time_ns": 1789661920398880284, "actions_sent": 538, "prediction": 32, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.05968198762275, "blended_steps": 5}
67
+ {"event": "prediction_requested", "time_ns": 1789661920841936714, "actions_sent": 551, "prediction": 33, "queue_remaining": 12}
68
+ {"event": "plan_adopted", "time_ns": 1789661920950372512, "actions_sent": 554, "prediction": 33, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.25029900320806, "blended_steps": 5}
69
+ {"event": "prediction_requested", "time_ns": 1789661921425995263, "actions_sent": 568, "prediction": 34, "queue_remaining": 12}
70
+ {"event": "plan_adopted", "time_ns": 1789661921532831074, "actions_sent": 571, "prediction": 34, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.57217501290143, "blended_steps": 5}
71
+ {"event": "prediction_requested", "time_ns": 1789661921974934540, "actions_sent": 584, "prediction": 35, "queue_remaining": 12}
72
+ {"event": "plan_adopted", "time_ns": 1789661922084150873, "actions_sent": 587, "prediction": 35, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.22840501717292, "blended_steps": 5}
73
+ {"event": "prediction_requested", "time_ns": 1789661922560448758, "actions_sent": 601, "prediction": 36, "queue_remaining": 12}
74
+ {"event": "plan_adopted", "time_ns": 1789661922665881613, "actions_sent": 604, "prediction": 36, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.3750480064191, "blended_steps": 5}
75
+ {"event": "prediction_requested", "time_ns": 1789661923106562506, "actions_sent": 617, "prediction": 37, "queue_remaining": 12}
76
+ {"event": "plan_adopted", "time_ns": 1789661923211532040, "actions_sent": 620, "prediction": 37, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.42123599955812, "blended_steps": 5}
77
+ {"event": "prediction_requested", "time_ns": 1789661923689567907, "actions_sent": 634, "prediction": 38, "queue_remaining": 12}
78
+ {"event": "plan_adopted", "time_ns": 1789661923792414105, "actions_sent": 637, "prediction": 38, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.06350299273618, "blended_steps": 5}
79
+ {"event": "prediction_requested", "time_ns": 1789661924232301109, "actions_sent": 650, "prediction": 39, "queue_remaining": 12}
80
+ {"event": "plan_adopted", "time_ns": 1789661924337271784, "actions_sent": 653, "prediction": 39, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 149.95589799946174, "blended_steps": 5}
81
+ {"event": "prediction_requested", "time_ns": 1789661924783538008, "actions_sent": 666, "prediction": 40, "queue_remaining": 12}
82
+ {"event": "plan_adopted", "time_ns": 1789661924889155129, "actions_sent": 669, "prediction": 40, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.5468449902255, "blended_steps": 5}
83
+ {"event": "prediction_requested", "time_ns": 1789661925363887380, "actions_sent": 683, "prediction": 41, "queue_remaining": 12}
84
+ {"event": "plan_adopted", "time_ns": 1789661925467637521, "actions_sent": 686, "prediction": 41, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.2197540202178, "blended_steps": 5}
85
+ {"event": "prediction_requested", "time_ns": 1789661925903299813, "actions_sent": 699, "prediction": 42, "queue_remaining": 12}
86
+ {"event": "plan_adopted", "time_ns": 1789661926009301450, "actions_sent": 702, "prediction": 42, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.63583398796618, "blended_steps": 5}
87
+ {"event": "prediction_requested", "time_ns": 1789661926482232301, "actions_sent": 716, "prediction": 43, "queue_remaining": 12}
88
+ {"event": "plan_adopted", "time_ns": 1789661926586566053, "actions_sent": 719, "prediction": 43, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.38417099253275, "blended_steps": 5}
89
+ {"event": "prediction_requested", "time_ns": 1789661927057656120, "actions_sent": 733, "prediction": 44, "queue_remaining": 12}
90
+ {"event": "plan_adopted", "time_ns": 1789661927160570179, "actions_sent": 736, "prediction": 44, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.46006299718283, "blended_steps": 5}
91
+ {"event": "prediction_requested", "time_ns": 1789661927605066420, "actions_sent": 749, "prediction": 45, "queue_remaining": 12}
92
+ {"event": "plan_adopted", "time_ns": 1789661927715141780, "actions_sent": 752, "prediction": 45, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.35087397857569, "blended_steps": 5}
93
+ {"event": "prediction_requested", "time_ns": 1789661928194546273, "actions_sent": 766, "prediction": 46, "queue_remaining": 12}
94
+ {"event": "plan_adopted", "time_ns": 1789661928297056891, "actions_sent": 769, "prediction": 46, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.8966030178126, "blended_steps": 5}
95
+ {"event": "prediction_requested", "time_ns": 1789661928742726398, "actions_sent": 782, "prediction": 47, "queue_remaining": 12}
96
+ {"event": "plan_adopted", "time_ns": 1789661928848895596, "actions_sent": 785, "prediction": 47, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.10317600006238, "blended_steps": 5}
97
+ {"event": "prediction_requested", "time_ns": 1789661929319378876, "actions_sent": 799, "prediction": 48, "queue_remaining": 12}
98
+ {"event": "plan_adopted", "time_ns": 1789661929425055629, "actions_sent": 802, "prediction": 48, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.77880099485628, "blended_steps": 5}
99
+ {"event": "prediction_requested", "time_ns": 1789661929897489369, "actions_sent": 816, "prediction": 49, "queue_remaining": 12}
100
+ {"event": "plan_adopted", "time_ns": 1789661930006173066, "actions_sent": 819, "prediction": 49, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.44047602289356, "blended_steps": 5}
101
+ {"event": "prediction_requested", "time_ns": 1789661930447358073, "actions_sent": 832, "prediction": 50, "queue_remaining": 12}
102
+ {"event": "plan_adopted", "time_ns": 1789661930555745624, "actions_sent": 835, "prediction": 50, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.13726599840447, "blended_steps": 5}
103
+ {"event": "prediction_requested", "time_ns": 1789661931027012909, "actions_sent": 849, "prediction": 51, "queue_remaining": 12}
104
+ {"event": "plan_adopted", "time_ns": 1789661931132646670, "actions_sent": 852, "prediction": 51, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.5933349742554, "blended_steps": 5}
105
+ {"event": "prediction_requested", "time_ns": 1789661931576178868, "actions_sent": 865, "prediction": 52, "queue_remaining": 12}
106
+ {"event": "plan_adopted", "time_ns": 1789661931680752138, "actions_sent": 868, "prediction": 52, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.44872700143605, "blended_steps": 5}
107
+ {"event": "prediction_requested", "time_ns": 1789661932161406262, "actions_sent": 882, "prediction": 53, "queue_remaining": 12}
108
+ {"event": "plan_adopted", "time_ns": 1789661932265773071, "actions_sent": 885, "prediction": 53, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 107.42678900714964, "blended_steps": 5}
109
+ {"event": "prediction_requested", "time_ns": 1789661932740172451, "actions_sent": 899, "prediction": 54, "queue_remaining": 12}
110
+ {"event": "plan_adopted", "time_ns": 1789661932846210182, "actions_sent": 902, "prediction": 54, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.4854880052153, "blended_steps": 5}
111
+ {"event": "prediction_requested", "time_ns": 1789661933320230925, "actions_sent": 916, "prediction": 55, "queue_remaining": 12}
112
+ {"event": "plan_adopted", "time_ns": 1789661933422279566, "actions_sent": 919, "prediction": 55, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 133.24538702727295, "blended_steps": 5}
113
+ {"event": "prediction_requested", "time_ns": 1789661933897496620, "actions_sent": 933, "prediction": 56, "queue_remaining": 12}
114
+ {"event": "plan_adopted", "time_ns": 1789661933999764399, "actions_sent": 936, "prediction": 56, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 110.42071299743839, "blended_steps": 5}
115
+ {"event": "prediction_requested", "time_ns": 1789661934488197408, "actions_sent": 950, "prediction": 57, "queue_remaining": 12}
116
+ {"event": "plan_adopted", "time_ns": 1789661934591906304, "actions_sent": 953, "prediction": 57, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.28126801247708, "blended_steps": 5}
117
+ {"event": "prediction_requested", "time_ns": 1789661935033804140, "actions_sent": 966, "prediction": 58, "queue_remaining": 12}
118
+ {"event": "plan_adopted", "time_ns": 1789661935136759565, "actions_sent": 969, "prediction": 58, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.29865099070594, "blended_steps": 5}
119
+ {"event": "prediction_requested", "time_ns": 1789661935584498873, "actions_sent": 982, "prediction": 59, "queue_remaining": 12}
120
+ {"event": "plan_adopted", "time_ns": 1789661935689993969, "actions_sent": 985, "prediction": 59, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 129.84636801411398, "blended_steps": 5}
121
+ {"event": "prediction_requested", "time_ns": 1789661936164886625, "actions_sent": 999, "prediction": 60, "queue_remaining": 12}
122
+ {"event": "plan_adopted", "time_ns": 1789661936267115397, "actions_sent": 1002, "prediction": 60, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.11629701498896, "blended_steps": 5}
123
+ {"event": "prediction_requested", "time_ns": 1789661936712044920, "actions_sent": 1015, "prediction": 61, "queue_remaining": 12}
124
+ {"event": "plan_adopted", "time_ns": 1789661936814858926, "actions_sent": 1018, "prediction": 61, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.38492401270196, "blended_steps": 5}
125
+ {"event": "prediction_requested", "time_ns": 1789661937294216761, "actions_sent": 1032, "prediction": 62, "queue_remaining": 12}
126
+ {"event": "plan_adopted", "time_ns": 1789661937401344818, "actions_sent": 1035, "prediction": 62, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 105.71295898989774, "blended_steps": 5}
127
+ {"event": "prediction_requested", "time_ns": 1789661937879690291, "actions_sent": 1049, "prediction": 63, "queue_remaining": 12}
128
+ {"event": "plan_adopted", "time_ns": 1789661937985804305, "actions_sent": 1052, "prediction": 63, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.85260399989784, "blended_steps": 5}
129
+ {"event": "prediction_requested", "time_ns": 1789661938456280694, "actions_sent": 1066, "prediction": 64, "queue_remaining": 12}
130
+ {"event": "plan_adopted", "time_ns": 1789661938560268773, "actions_sent": 1069, "prediction": 64, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.5004859904293, "blended_steps": 5}
131
+ {"event": "prediction_requested", "time_ns": 1789661938999683576, "actions_sent": 1082, "prediction": 65, "queue_remaining": 12}
132
+ {"event": "plan_adopted", "time_ns": 1789661939107995227, "actions_sent": 1085, "prediction": 65, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.04903099057265, "blended_steps": 5}
133
+ {"event": "prediction_requested", "time_ns": 1789661939550634149, "actions_sent": 1098, "prediction": 66, "queue_remaining": 12}
134
+ {"event": "plan_adopted", "time_ns": 1789661939658666695, "actions_sent": 1101, "prediction": 66, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.8220389764756, "blended_steps": 5}
135
+ {"event": "prediction_requested", "time_ns": 1789661940127596261, "actions_sent": 1115, "prediction": 67, "queue_remaining": 12}
136
+ {"event": "plan_adopted", "time_ns": 1789661940235487631, "actions_sent": 1118, "prediction": 67, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.89093400980346, "blended_steps": 5}
137
+ {"event": "prediction_requested", "time_ns": 1789661940674873928, "actions_sent": 1131, "prediction": 68, "queue_remaining": 12}
138
+ {"event": "plan_adopted", "time_ns": 1789661940781032743, "actions_sent": 1134, "prediction": 68, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.00284098414704, "blended_steps": 5}
139
+ {"event": "prediction_requested", "time_ns": 1789661941255682190, "actions_sent": 1148, "prediction": 69, "queue_remaining": 12}
140
+ {"event": "plan_adopted", "time_ns": 1789661941359108558, "actions_sent": 1151, "prediction": 69, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.7876080176793, "blended_steps": 5}
141
+ {"event": "prediction_requested", "time_ns": 1789661941830578726, "actions_sent": 1165, "prediction": 70, "queue_remaining": 12}
142
+ {"event": "plan_adopted", "time_ns": 1789661941935182703, "actions_sent": 1168, "prediction": 70, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.83216598373838, "blended_steps": 5}
143
+ {"event": "prediction_requested", "time_ns": 1789661942375953803, "actions_sent": 1181, "prediction": 71, "queue_remaining": 12}
144
+ {"event": "plan_adopted", "time_ns": 1789661942480862508, "actions_sent": 1184, "prediction": 71, "queue_remaining": 16, "skipped_prefix": 4, "observation_age_ms": 119.77460599155165, "blended_steps": 5}
145
+ {"event": "completed", "time_ns": 1789661943052801426, "actions_sent": 1200, "predictions_requested": 72}
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/event/event_dict.pkl ADDED
Binary file (103 Bytes). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/action.json ADDED
@@ -0,0 +1,28 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_action_recorder": {
3
+ "counts": {
4
+ "action.executed": 1200,
5
+ "camera.base_0_rgb": 1240,
6
+ "camera.left_wrist_0_rgb": 1240,
7
+ "camera.right_wrist_0_rgb": 1240,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 9883,
11
+ "robot.robot_state": 4962
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0006",
14
+ "executed_actions": 1200,
15
+ "failure": "",
16
+ "metadata": {
17
+ "round_number": 6,
18
+ "run_id": "20260918_001636_597854_round_0006",
19
+ "workflow": "openpi_rollout"
20
+ },
21
+ "policy_action_chunks": 0,
22
+ "record_id": "prometheus_action_recorder",
23
+ "record_mode": "action",
24
+ "schema": "prometheus_raw_episode_v1",
25
+ "status": "saved",
26
+ "updated_at_unix": 1789661943.2311666
27
+ }
28
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/camera.json ADDED
@@ -0,0 +1,101 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_camera_base_0_recorder": {
3
+ "camera_frames": {
4
+ "base_0_rgb": 1240
5
+ },
6
+ "camera_timestamp_samples": 1240,
7
+ "complete_sensor_bundles": 1240,
8
+ "counts": {
9
+ "action.executed": 1200,
10
+ "camera.base_0_rgb": 1240,
11
+ "camera.left_wrist_0_rgb": 1240,
12
+ "camera.right_wrist_0_rgb": 1240,
13
+ "dropped": 0,
14
+ "event.workflow": 1,
15
+ "items": 9883,
16
+ "robot.robot_state": 4962
17
+ },
18
+ "dropped_incomplete_sensor_bundles": 0,
19
+ "duplicate_sensor_messages": 0,
20
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0006",
21
+ "failure": "",
22
+ "metadata": {
23
+ "round_number": 6,
24
+ "run_id": "20260918_001636_597854_round_0006",
25
+ "workflow": "openpi_rollout"
26
+ },
27
+ "record_id": "prometheus_camera_base_0_recorder",
28
+ "record_mode": "sensor",
29
+ "schema": "prometheus_raw_episode_v1",
30
+ "sensor_kind": "camera",
31
+ "sensor_name": "base_0",
32
+ "status": "saved",
33
+ "updated_at_unix": 1789661943.2311666
34
+ },
35
+ "prometheus_camera_left_wrist_0_recorder": {
36
+ "camera_frames": {
37
+ "left_wrist_0_rgb": 1240
38
+ },
39
+ "camera_timestamp_samples": 1240,
40
+ "complete_sensor_bundles": 1240,
41
+ "counts": {
42
+ "action.executed": 1200,
43
+ "camera.base_0_rgb": 1240,
44
+ "camera.left_wrist_0_rgb": 1240,
45
+ "camera.right_wrist_0_rgb": 1240,
46
+ "dropped": 0,
47
+ "event.workflow": 1,
48
+ "items": 9883,
49
+ "robot.robot_state": 4962
50
+ },
51
+ "dropped_incomplete_sensor_bundles": 0,
52
+ "duplicate_sensor_messages": 0,
53
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0006",
54
+ "failure": "",
55
+ "metadata": {
56
+ "round_number": 6,
57
+ "run_id": "20260918_001636_597854_round_0006",
58
+ "workflow": "openpi_rollout"
59
+ },
60
+ "record_id": "prometheus_camera_left_wrist_0_recorder",
61
+ "record_mode": "sensor",
62
+ "schema": "prometheus_raw_episode_v1",
63
+ "sensor_kind": "camera",
64
+ "sensor_name": "left_wrist_0",
65
+ "status": "saved",
66
+ "updated_at_unix": 1789661943.2311666
67
+ },
68
+ "prometheus_camera_right_wrist_0_recorder": {
69
+ "camera_frames": {
70
+ "right_wrist_0_rgb": 1240
71
+ },
72
+ "camera_timestamp_samples": 1240,
73
+ "complete_sensor_bundles": 1240,
74
+ "counts": {
75
+ "action.executed": 1200,
76
+ "camera.base_0_rgb": 1240,
77
+ "camera.left_wrist_0_rgb": 1240,
78
+ "camera.right_wrist_0_rgb": 1240,
79
+ "dropped": 0,
80
+ "event.workflow": 1,
81
+ "items": 9883,
82
+ "robot.robot_state": 4962
83
+ },
84
+ "dropped_incomplete_sensor_bundles": 0,
85
+ "duplicate_sensor_messages": 0,
86
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0006",
87
+ "failure": "",
88
+ "metadata": {
89
+ "round_number": 6,
90
+ "run_id": "20260918_001636_597854_round_0006",
91
+ "workflow": "openpi_rollout"
92
+ },
93
+ "record_id": "prometheus_camera_right_wrist_0_recorder",
94
+ "record_mode": "sensor",
95
+ "schema": "prometheus_raw_episode_v1",
96
+ "sensor_kind": "camera",
97
+ "sensor_name": "right_wrist_0",
98
+ "status": "saved",
99
+ "updated_at_unix": 1789661943.2311666
100
+ }
101
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/event.json ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_event_recorder": {
3
+ "counts": {
4
+ "action.executed": 1200,
5
+ "camera.base_0_rgb": 1240,
6
+ "camera.left_wrist_0_rgb": 1240,
7
+ "camera.right_wrist_0_rgb": 1240,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 9883,
11
+ "robot.robot_state": 4962
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0006",
14
+ "event_samples": 1,
15
+ "failure": "",
16
+ "metadata": {
17
+ "round_number": 6,
18
+ "run_id": "20260918_001636_597854_round_0006",
19
+ "workflow": "openpi_rollout"
20
+ },
21
+ "record_id": "prometheus_event_recorder",
22
+ "record_mode": "event",
23
+ "schema": "prometheus_raw_episode_v1",
24
+ "status": "saved",
25
+ "updated_at_unix": 1789661943.2311666
26
+ }
27
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/robot.json ADDED
@@ -0,0 +1,36 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "prometheus_robot_recorder": {
3
+ "counts": {
4
+ "action.executed": 1200,
5
+ "camera.base_0_rgb": 1240,
6
+ "camera.left_wrist_0_rgb": 1240,
7
+ "camera.right_wrist_0_rgb": 1240,
8
+ "dropped": 0,
9
+ "event.workflow": 1,
10
+ "items": 9883,
11
+ "robot.robot_state": 4962
12
+ },
13
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0006",
14
+ "failure": "",
15
+ "incomplete_robot_samples": {
16
+ "left": 4962,
17
+ "right": 4962
18
+ },
19
+ "metadata": {
20
+ "round_number": 6,
21
+ "run_id": "20260918_001636_597854_round_0006",
22
+ "workflow": "openpi_rollout"
23
+ },
24
+ "pending_robot_samples": 0,
25
+ "plot_outputs": [],
26
+ "record_id": "prometheus_robot_recorder",
27
+ "record_mode": "robot",
28
+ "robot_samples": {
29
+ "left": 4962,
30
+ "right": 4962
31
+ },
32
+ "schema": "prometheus_raw_episode_v1",
33
+ "status": "saved",
34
+ "updated_at_unix": 1789661943.2311666
35
+ }
36
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/manifests/tactile.json ADDED
@@ -0,0 +1 @@
 
 
1
+ {}
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0006/workflow_manifest.json ADDED
@@ -0,0 +1,611 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "acceleration_limits": [
3
+ 118.7426430016755,
4
+ 165.012131490699,
5
+ 134.04180689399348,
6
+ 274.86399842805685,
7
+ 195.25766555964873,
8
+ 454.5340796113012,
9
+ 109.40927818565227,
10
+ 178.49339036295515,
11
+ 476.6444930964641,
12
+ 557.9080874526715,
13
+ 587.1810202100611,
14
+ 362.1711802492357,
15
+ 208.8803265352197,
16
+ 208.9010343469399
17
+ ],
18
+ "actions_sent": 1200,
19
+ "async_execution": {
20
+ "blend_steps": 5,
21
+ "chunk_counter_meaning": "completed groups of 30 acknowledged targets",
22
+ "expired_prefix_actions": 311,
23
+ "mode": "async_overlap",
24
+ "plans_adopted": 72,
25
+ "prediction_horizon": 30,
26
+ "predictions_requested": 72,
27
+ "prefetch_steps": 12,
28
+ "queue_underruns": 0,
29
+ "target_budget": 1200
30
+ },
31
+ "chunks": 40,
32
+ "command_velocity_limits": [
33
+ 7.326937734087213,
34
+ 7.492612143357643,
35
+ 9.039960411055707,
36
+ 10.989442599937178,
37
+ 11.822247140410347,
38
+ 21.729793477053846,
39
+ 4.549583926449072,
40
+ 9.542591565847905,
41
+ 16.49783855493206,
42
+ 19.18122166486826,
43
+ 20.271305218109156,
44
+ 13.274309575261345,
45
+ 14.009155302643812,
46
+ 4.764187300355128
47
+ ],
48
+ "config": {
49
+ "async_inference": {
50
+ "blend_steps": 5,
51
+ "enabled": true,
52
+ "prefetch_steps": 12
53
+ },
54
+ "data": {
55
+ "bridge": {
56
+ "enabled": true,
57
+ "name": "openpi_observe_20260918_001636_597854",
58
+ "qos_depth": 10,
59
+ "sensor_qos": "reliable",
60
+ "stamp_source": "header",
61
+ "wait_all_streams": true
62
+ },
63
+ "history": 64,
64
+ "mode": "owned",
65
+ "name": "openpi_data",
66
+ "numpy": {
67
+ "enabled": true
68
+ },
69
+ "recording": {
70
+ "camera_encoder": "libx264",
71
+ "default_event_value": null,
72
+ "enable_plots": false,
73
+ "enabled": true,
74
+ "fps": 30.0,
75
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data",
76
+ "queue_size": 4096
77
+ },
78
+ "streams": {
79
+ "base_0_color": {
80
+ "domain": "sensor",
81
+ "msg_type": "sensor_msgs.msg.Image",
82
+ "ros_domain_id": 22,
83
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
84
+ },
85
+ "left_wrist_0_color": {
86
+ "domain": "sensor",
87
+ "msg_type": "sensor_msgs.msg.Image",
88
+ "ros_domain_id": 22,
89
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
90
+ },
91
+ "right_wrist_0_color": {
92
+ "domain": "sensor",
93
+ "msg_type": "sensor_msgs.msg.Image",
94
+ "ros_domain_id": 22,
95
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
96
+ },
97
+ "robot_state": {
98
+ "domain": "robot",
99
+ "msg_type": "sensor_msgs.msg.JointState",
100
+ "ros_domain_id": 21,
101
+ "topic": "/prometheus/robots/yam/state"
102
+ }
103
+ }
104
+ },
105
+ "execute": true,
106
+ "execution": {
107
+ "command_ack_timeout_s": 0.1,
108
+ "hold_settle_s": 0.2,
109
+ "hold_settle_timeout_s": 5.0,
110
+ "max_prediction_age_s": 0.5,
111
+ "max_schedule_lateness_s": 0.105
112
+ },
113
+ "hardware": {
114
+ "mode": "owned",
115
+ "name": "openpi_hardware",
116
+ "sensors": "auto",
117
+ "streams": "auto"
118
+ },
119
+ "policy": {
120
+ "action_hz": 30.0,
121
+ "connect_timeout_s": 10.0,
122
+ "host": "127.0.0.1",
123
+ "max_observation_age_s": 0.5,
124
+ "observation_wait_timeout_s": 1.0,
125
+ "port": 8000,
126
+ "prompt": "Pick up the banana with the right arm, hand it over to the left arm, and place it on the plate.",
127
+ "response_timeout_s": 120.0,
128
+ "slop_ms": 20.0
129
+ },
130
+ "preview": {
131
+ "enabled": true,
132
+ "fps": 20.0,
133
+ "height": 720,
134
+ "host": "127.0.0.1",
135
+ "mode": "local",
136
+ "port": 7860,
137
+ "refresh_ms": 100,
138
+ "stale_timeout_s": 1.0,
139
+ "ui_mode": "openpi",
140
+ "width": 1280,
141
+ "window": "Pi0.5 - Async execution"
142
+ },
143
+ "robot": {
144
+ "_target_": "prometheus.nodes.robots.yam.resolve_robot",
145
+ "cameras": {
146
+ "camera_info": false,
147
+ "capture_height": 480,
148
+ "capture_hz": 30,
149
+ "capture_width": 640,
150
+ "collect_ir": false,
151
+ "ir": false,
152
+ "prepub_resize": 1.0,
153
+ "publish_hz": 30,
154
+ "qos": "reliable",
155
+ "serial_no": {
156
+ "base_0": "260322272085",
157
+ "left_wrist_0": "260422275825",
158
+ "right_wrist_0": "260322279382"
159
+ }
160
+ },
161
+ "collection_input_source": "pedal,tty",
162
+ "collection_pedal": {
163
+ "confirm_presses": 2,
164
+ "confirm_window_s": 1.0,
165
+ "debounce_s": 0.05,
166
+ "devices": [
167
+ "/dev/input/prometheus-pedal",
168
+ "/dev/input/prometheus-pedal-aux"
169
+ ],
170
+ "exclusive": true,
171
+ "pedal_map": {
172
+ "2": 0,
173
+ "3": 1,
174
+ "4": 2,
175
+ "5": 3,
176
+ "30": 0,
177
+ "32": 3,
178
+ "46": 2,
179
+ "48": 1
180
+ }
181
+ },
182
+ "control_domain_id": 21,
183
+ "id": "yam",
184
+ "robot": {
185
+ "action_space": "abs_qpos",
186
+ "alignment_duration_s": 3.0,
187
+ "bilateral_kp": 0.0,
188
+ "collection_mode": "policy",
189
+ "control_hz": 120,
190
+ "enable_auto_recovery": false,
191
+ "follower_arm": "yam_ultra",
192
+ "follower_can": {
193
+ "left": "can_follower_l",
194
+ "right": "can_follower_r"
195
+ },
196
+ "follower_gripper": "linear_4310",
197
+ "gripper_width_m": 0.096,
198
+ "home_return": {
199
+ "enabled": false,
200
+ "feedback_timeout_s": 0.5,
201
+ "kp_scale": 1.0,
202
+ "max_velocity": 0.3,
203
+ "min_duration_s": 3.0,
204
+ "position_tolerance": 0.05,
205
+ "settle_s": 0.3,
206
+ "timeout_s": 25.0,
207
+ "tracking_error_limit": 0.35,
208
+ "velocity_tolerance": 0.1
209
+ },
210
+ "leader_arm": "yam",
211
+ "leader_can": null,
212
+ "leader_gripper": "yam_teaching_handle",
213
+ "policy_control": {
214
+ "acceleration_limits": [
215
+ 118.7426430016755,
216
+ 165.012131490699,
217
+ 134.04180689399348,
218
+ 274.86399842805685,
219
+ 195.25766555964873,
220
+ 454.5340796113012,
221
+ 109.40927818565227,
222
+ 178.49339036295515,
223
+ 476.6444930964641,
224
+ 557.9080874526715,
225
+ 587.1810202100611,
226
+ 362.1711802492357,
227
+ 208.8803265352197,
228
+ 208.9010343469399
229
+ ],
230
+ "command_timeout_s": 0.25,
231
+ "command_velocity_limits": [
232
+ 7.326937734087213,
233
+ 7.492612143357643,
234
+ 9.039960411055707,
235
+ 10.989442599937178,
236
+ 11.822247140410347,
237
+ 21.729793477053846,
238
+ 4.549583926449072,
239
+ 9.542591565847905,
240
+ 16.49783855493206,
241
+ 19.18122166486826,
242
+ 20.271305218109156,
243
+ 13.274309575261345,
244
+ 14.009155302643812,
245
+ 4.764187300355128
246
+ ],
247
+ "feedback_timeout_s": 0.2,
248
+ "hz": 30.0,
249
+ "stationary_velocity_limits": [
250
+ 0.09619047798216343,
251
+ 0.09619047798216343,
252
+ 0.09125763334333897,
253
+ 0.09619047798216343,
254
+ 0.11098901189863682,
255
+ 0.18498168900609016,
256
+ 0.014679903751239181,
257
+ 0.10112332262098789,
258
+ 0.11098901189863682,
259
+ 0.10112332262098789,
260
+ 0.11098901189863682,
261
+ 0.14058608725667,
262
+ 0.2885714414715767,
263
+ 0.014345181323587895
264
+ ],
265
+ "stop_file": "/tmp/prometheus_openpi/STOP",
266
+ "tracking_error_limits": [
267
+ 0.20073625504970552,
268
+ 0.309388148188591,
269
+ 0.29782940477132797,
270
+ 0.22655070275068284,
271
+ 0.5001068050414323,
272
+ 0.7771305423974991,
273
+ 0.06952205713838339,
274
+ 0.268162048868835,
275
+ 0.3556229412555695,
276
+ 0.4542571985721588,
277
+ 0.3109293460845947,
278
+ 1.0653276860713958,
279
+ 0.45733958966098726,
280
+ 0.07211417473852634
281
+ ],
282
+ "urdf": "/home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf",
283
+ "velocity_limits": [
284
+ 6.503956017494202,
285
+ 7.554651925563812,
286
+ 9.670842275619506,
287
+ 10.588351378440857,
288
+ 8.72373610496521,
289
+ 13.252087483406067,
290
+ 1.2993822544813156,
291
+ 8.664541969299316,
292
+ 10.73633671760559,
293
+ 14.77633719921112,
294
+ 17.380879168510436,
295
+ 20.799341225624083,
296
+ 7.747032866477967,
297
+ 1.3316887146234513
298
+ ]
299
+ },
300
+ "require_enable_button": false,
301
+ "sim": false,
302
+ "state_publish_hz": 120,
303
+ "teleoperation_enabled": false
304
+ },
305
+ "sensor_domain_id": 22
306
+ },
307
+ "ros": {
308
+ "localhost_only": true
309
+ },
310
+ "run": {
311
+ "action_steps": 30,
312
+ "id": "20260918_001636_597854_round_0006",
313
+ "output_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0006",
314
+ "runtime_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime",
315
+ "steps": 40,
316
+ "wait_ready_timeout_s": 30.0
317
+ }
318
+ },
319
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0006",
320
+ "next_round_confirmed": true,
321
+ "observation_not_before_ns": 1789661901942323783,
322
+ "operator_command_file": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/metadata/runtime/operator_command",
323
+ "operator_drag_verified": true,
324
+ "operator_result": "success",
325
+ "policy_control_limits": {
326
+ "acceleration_limits": [
327
+ 118.7426430016755,
328
+ 165.012131490699,
329
+ 134.04180689399348,
330
+ 274.86399842805685,
331
+ 195.25766555964873,
332
+ 454.5340796113012,
333
+ 109.40927818565227,
334
+ 178.49339036295515,
335
+ 476.6444930964641,
336
+ 557.9080874526715,
337
+ 587.1810202100611,
338
+ 362.1711802492357,
339
+ 208.8803265352197,
340
+ 208.9010343469399
341
+ ],
342
+ "armed": false,
343
+ "command_guard_failure": null,
344
+ "command_velocity_limits": [
345
+ 7.326937734087213,
346
+ 7.492612143357643,
347
+ 9.039960411055707,
348
+ 10.989442599937178,
349
+ 11.822247140410347,
350
+ 21.729793477053846,
351
+ 4.549583926449072,
352
+ 9.542591565847905,
353
+ 16.49783855493206,
354
+ 19.18122166486826,
355
+ 20.271305218109156,
356
+ 13.274309575261345,
357
+ 14.009155302643812,
358
+ 4.764187300355128
359
+ ],
360
+ "dragging": false,
361
+ "fault": null,
362
+ "holding": false,
363
+ "policy_finished": false,
364
+ "position_guard_failure": null,
365
+ "position_limit_source": "sdk",
366
+ "position_limits": [
367
+ [
368
+ -2.7679899999999997,
369
+ 3.29159
370
+ ],
371
+ [
372
+ -0.15,
373
+ 3.81519
374
+ ],
375
+ [
376
+ -0.15,
377
+ 3.29159
378
+ ],
379
+ [
380
+ -1.84297,
381
+ 1.7207999999999999
382
+ ],
383
+ [
384
+ -1.7207999999999999,
385
+ 1.7207999999999999
386
+ ],
387
+ [
388
+ -2.2443999999999997,
389
+ 2.2443999999999997
390
+ ],
391
+ [
392
+ 0.0,
393
+ 0.096
394
+ ],
395
+ [
396
+ -2.7679899999999997,
397
+ 3.29159
398
+ ],
399
+ [
400
+ -0.15,
401
+ 3.81519
402
+ ],
403
+ [
404
+ -0.15,
405
+ 3.29159
406
+ ],
407
+ [
408
+ -1.84297,
409
+ 1.7207999999999999
410
+ ],
411
+ [
412
+ -1.7207999999999999,
413
+ 1.7207999999999999
414
+ ],
415
+ [
416
+ -2.2443999999999997,
417
+ 2.2443999999999997
418
+ ],
419
+ [
420
+ 0.0,
421
+ 0.096
422
+ ]
423
+ ],
424
+ "stationary_velocity_limits": [
425
+ 0.09619047798216343,
426
+ 0.09619047798216343,
427
+ 0.09125763334333897,
428
+ 0.09619047798216343,
429
+ 0.11098901189863682,
430
+ 0.18498168900609016,
431
+ 0.014679903751239181,
432
+ 0.10112332262098789,
433
+ 0.11098901189863682,
434
+ 0.10112332262098789,
435
+ 0.11098901189863682,
436
+ 0.14058608725667,
437
+ 0.2885714414715767,
438
+ 0.014345181323587895
439
+ ],
440
+ "stop_file": "/tmp/prometheus_openpi/STOP",
441
+ "tracking_error_limits": [
442
+ 0.20073625504970552,
443
+ 0.309388148188591,
444
+ 0.29782940477132797,
445
+ 0.22655070275068284,
446
+ 0.5001068050414323,
447
+ 0.7771305423974991,
448
+ 0.06952205713838339,
449
+ 0.268162048868835,
450
+ 0.3556229412555695,
451
+ 0.4542571985721588,
452
+ 0.3109293460845947,
453
+ 1.0653276860713958,
454
+ 0.45733958966098726,
455
+ 0.07211417473852634
456
+ ],
457
+ "velocity_limits": [
458
+ 6.503956017494202,
459
+ 7.554651925563812,
460
+ 9.670842275619506,
461
+ 10.588351378440857,
462
+ 8.72373610496521,
463
+ 13.252087483406067,
464
+ 1.2993822544813156,
465
+ 8.664541969299316,
466
+ 10.73633671760559,
467
+ 14.77633719921112,
468
+ 17.380879168510436,
469
+ 20.799341225624083,
470
+ 7.747032866477967,
471
+ 1.3316887146234513
472
+ ]
473
+ },
474
+ "position_limit_source": "sdk",
475
+ "position_limits": [
476
+ [
477
+ -2.7679899999999997,
478
+ 3.29159
479
+ ],
480
+ [
481
+ -0.15,
482
+ 3.81519
483
+ ],
484
+ [
485
+ -0.15,
486
+ 3.29159
487
+ ],
488
+ [
489
+ -1.84297,
490
+ 1.7207999999999999
491
+ ],
492
+ [
493
+ -1.7207999999999999,
494
+ 1.7207999999999999
495
+ ],
496
+ [
497
+ -2.2443999999999997,
498
+ 2.2443999999999997
499
+ ],
500
+ [
501
+ 0.0,
502
+ 0.096
503
+ ],
504
+ [
505
+ -2.7679899999999997,
506
+ 3.29159
507
+ ],
508
+ [
509
+ -0.15,
510
+ 3.81519
511
+ ],
512
+ [
513
+ -0.15,
514
+ 3.29159
515
+ ],
516
+ [
517
+ -1.84297,
518
+ 1.7207999999999999
519
+ ],
520
+ [
521
+ -1.7207999999999999,
522
+ 1.7207999999999999
523
+ ],
524
+ [
525
+ -2.2443999999999997,
526
+ 2.2443999999999997
527
+ ],
528
+ [
529
+ 0.0,
530
+ 0.096
531
+ ]
532
+ ],
533
+ "recording": {
534
+ "episode_dir": "outputs/openpi_rollout/seven_tasks_2500/catch_and_place_banan/data/round_0006",
535
+ "failure": "",
536
+ "paused": false,
537
+ "queue_size": 0,
538
+ "queues": {
539
+ "action": 0,
540
+ "camera:base_0": 0,
541
+ "camera:left_wrist_0": 0,
542
+ "camera:right_wrist_0": 0,
543
+ "event": 0,
544
+ "robot": 0
545
+ },
546
+ "record_counts": {
547
+ "action.executed": 1200,
548
+ "camera.base_0_rgb": 1240,
549
+ "camera.left_wrist_0_rgb": 1240,
550
+ "camera.right_wrist_0_rgb": 1240,
551
+ "dropped": 0,
552
+ "event.workflow": 1,
553
+ "items": 9883,
554
+ "robot.robot_state": 4962
555
+ },
556
+ "recording": false,
557
+ "recording_enabled": true
558
+ },
559
+ "reviewed_at_ns": 1789661947757899395,
560
+ "round_number": 6,
561
+ "stationary_velocity_limits": [
562
+ 0.09619047798216343,
563
+ 0.09619047798216343,
564
+ 0.09125763334333897,
565
+ 0.09619047798216343,
566
+ 0.11098901189863682,
567
+ 0.18498168900609016,
568
+ 0.014679903751239181,
569
+ 0.10112332262098789,
570
+ 0.11098901189863682,
571
+ 0.10112332262098789,
572
+ 0.11098901189863682,
573
+ 0.14058608725667,
574
+ 0.2885714414715767,
575
+ 0.014345181323587895
576
+ ],
577
+ "status": "completed",
578
+ "task_success": true,
579
+ "tracking_error_limits": [
580
+ 0.20073625504970552,
581
+ 0.309388148188591,
582
+ 0.29782940477132797,
583
+ 0.22655070275068284,
584
+ 0.5001068050414323,
585
+ 0.7771305423974991,
586
+ 0.06952205713838339,
587
+ 0.268162048868835,
588
+ 0.3556229412555695,
589
+ 0.4542571985721588,
590
+ 0.3109293460845947,
591
+ 1.0653276860713958,
592
+ 0.45733958966098726,
593
+ 0.07211417473852634
594
+ ],
595
+ "velocity_limits": [
596
+ 6.503956017494202,
597
+ 7.554651925563812,
598
+ 9.670842275619506,
599
+ 10.588351378440857,
600
+ 8.72373610496521,
601
+ 13.252087483406067,
602
+ 1.2993822544813156,
603
+ 8.664541969299316,
604
+ 10.73633671760559,
605
+ 14.77633719921112,
606
+ 17.380879168510436,
607
+ 20.799341225624083,
608
+ 7.747032866477967,
609
+ 1.3316887146234513
610
+ ]
611
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0007/camera/metadata.json ADDED
@@ -0,0 +1,59 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "base_0_rgb": {
3
+ "codec": "h264",
4
+ "container": "mp4",
5
+ "encoder": "libx264",
6
+ "encoding": "bgr8",
7
+ "frames": 1015,
8
+ "height": 480,
9
+ "lossless": false,
10
+ "pixel_format": "yuv420p",
11
+ "quality": {
12
+ "mode": "crf",
13
+ "value": 14
14
+ },
15
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
16
+ "timestamps": "camera/timestamp.pkl::base_0",
17
+ "topic": "/prometheus/sensors/cameras/base_0/color/image_raw",
18
+ "video": "camera/base_0_rgb.mp4",
19
+ "width": 640
20
+ },
21
+ "left_wrist_0_rgb": {
22
+ "codec": "h264",
23
+ "container": "mp4",
24
+ "encoder": "libx264",
25
+ "encoding": "bgr8",
26
+ "frames": 1014,
27
+ "height": 480,
28
+ "lossless": false,
29
+ "pixel_format": "yuv420p",
30
+ "quality": {
31
+ "mode": "crf",
32
+ "value": 14
33
+ },
34
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
35
+ "timestamps": "camera/timestamp.pkl::left_wrist_0",
36
+ "topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw",
37
+ "video": "camera/left_wrist_0_rgb.mp4",
38
+ "width": 640
39
+ },
40
+ "right_wrist_0_rgb": {
41
+ "codec": "h264",
42
+ "container": "mp4",
43
+ "encoder": "libx264",
44
+ "encoding": "bgr8",
45
+ "frames": 1014,
46
+ "height": 480,
47
+ "lossless": false,
48
+ "pixel_format": "yuv420p",
49
+ "quality": {
50
+ "mode": "crf",
51
+ "value": 14
52
+ },
53
+ "timestamp_policy": "shared_by_complete_physical_camera_bundle",
54
+ "timestamps": "camera/timestamp.pkl::right_wrist_0",
55
+ "topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
56
+ "video": "camera/right_wrist_0_rgb.mp4",
57
+ "width": 640
58
+ }
59
+ }
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0007/camera/timestamp.pkl ADDED
Binary file (24.4 kB). View file
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0007/debug/actions.jsonl ADDED
The diff for this file is too large to render. See raw diff
 
eval/YAM/V2/pi0.5_2500/catch_and_place_banan/data/round_0007/debug/async_events.jsonl ADDED
@@ -0,0 +1,118 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {"event": "prediction_requested", "time_ns": 1789661972191530619, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
2
+ {"event": "plan_adopted", "time_ns": 1789661972325081534, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 115.65044600865804, "blended_steps": 0}
3
+ {"event": "prediction_requested", "time_ns": 1789661972931269248, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
4
+ {"event": "plan_adopted", "time_ns": 1789661973035516433, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.0733199904207, "blended_steps": 5}
5
+ {"event": "prediction_requested", "time_ns": 1789661973476410545, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
6
+ {"event": "plan_adopted", "time_ns": 1789661973582845569, "actions_sent": 37, "prediction": 2, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 148.0577870097477, "blended_steps": 5}
7
+ {"event": "prediction_requested", "time_ns": 1789661974023449283, "actions_sent": 50, "prediction": 3, "queue_remaining": 12}
8
+ {"event": "plan_adopted", "time_ns": 1789661974132104146, "actions_sent": 53, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.46633500885218, "blended_steps": 5}
9
+ {"event": "prediction_requested", "time_ns": 1789661974622968376, "actions_sent": 67, "prediction": 4, "queue_remaining": 12}
10
+ {"event": "plan_adopted", "time_ns": 1789661974726894884, "actions_sent": 70, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.43140896013938, "blended_steps": 5}
11
+ {"event": "prediction_requested", "time_ns": 1789661975203683167, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
12
+ {"event": "plan_adopted", "time_ns": 1789661975310567769, "actions_sent": 87, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.56623899564147, "blended_steps": 5}
13
+ {"event": "prediction_requested", "time_ns": 1789661975749605797, "actions_sent": 100, "prediction": 6, "queue_remaining": 12}
14
+ {"event": "plan_adopted", "time_ns": 1789661975852074795, "actions_sent": 103, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.50883500301279, "blended_steps": 5}
15
+ {"event": "prediction_requested", "time_ns": 1789661976326587654, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
16
+ {"event": "plan_adopted", "time_ns": 1789661976430384246, "actions_sent": 120, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.56032201671042, "blended_steps": 5}
17
+ {"event": "prediction_requested", "time_ns": 1789661976898979139, "actions_sent": 134, "prediction": 8, "queue_remaining": 12}
18
+ {"event": "plan_adopted", "time_ns": 1789661977002254994, "actions_sent": 137, "prediction": 8, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.61575100175105, "blended_steps": 5}
19
+ {"event": "prediction_requested", "time_ns": 1789661977440783382, "actions_sent": 150, "prediction": 9, "queue_remaining": 12}
20
+ {"event": "plan_adopted", "time_ns": 1789661977544518461, "actions_sent": 153, "prediction": 9, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.28339900728315, "blended_steps": 5}
21
+ {"event": "prediction_requested", "time_ns": 1789661977989506722, "actions_sent": 166, "prediction": 10, "queue_remaining": 12}
22
+ {"event": "plan_adopted", "time_ns": 1789661978095073820, "actions_sent": 169, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.19846798386425, "blended_steps": 5}
23
+ {"event": "prediction_requested", "time_ns": 1789661978564951706, "actions_sent": 183, "prediction": 11, "queue_remaining": 12}
24
+ {"event": "plan_adopted", "time_ns": 1789661978670345549, "actions_sent": 186, "prediction": 11, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.41532698925585, "blended_steps": 5}
25
+ {"event": "prediction_requested", "time_ns": 1789661979112833909, "actions_sent": 199, "prediction": 12, "queue_remaining": 12}
26
+ {"event": "plan_adopted", "time_ns": 1789661979214869072, "actions_sent": 202, "prediction": 12, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.53351398394443, "blended_steps": 5}
27
+ {"event": "prediction_requested", "time_ns": 1789661979652239667, "actions_sent": 215, "prediction": 13, "queue_remaining": 12}
28
+ {"event": "plan_adopted", "time_ns": 1789661979756602301, "actions_sent": 218, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.83060501026921, "blended_steps": 5}
29
+ {"event": "prediction_requested", "time_ns": 1789661980233016261, "actions_sent": 232, "prediction": 14, "queue_remaining": 12}
30
+ {"event": "plan_adopted", "time_ns": 1789661980336019142, "actions_sent": 235, "prediction": 14, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 133.65627598250285, "blended_steps": 5}
31
+ {"event": "prediction_requested", "time_ns": 1789661980773536805, "actions_sent": 248, "prediction": 15, "queue_remaining": 12}
32
+ {"event": "plan_adopted", "time_ns": 1789661980876510397, "actions_sent": 251, "prediction": 15, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.34191899211146, "blended_steps": 5}
33
+ {"event": "prediction_requested", "time_ns": 1789661981323702065, "actions_sent": 264, "prediction": 16, "queue_remaining": 12}
34
+ {"event": "plan_adopted", "time_ns": 1789661981428353582, "actions_sent": 267, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.10001700138673, "blended_steps": 5}
35
+ {"event": "prediction_requested", "time_ns": 1789661981903194163, "actions_sent": 281, "prediction": 17, "queue_remaining": 12}
36
+ {"event": "plan_adopted", "time_ns": 1789661982008732087, "actions_sent": 284, "prediction": 17, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.2711100128945, "blended_steps": 5}
37
+ {"event": "prediction_requested", "time_ns": 1789661982457613028, "actions_sent": 297, "prediction": 18, "queue_remaining": 12}
38
+ {"event": "plan_adopted", "time_ns": 1789661982564910775, "actions_sent": 300, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.5210020064842, "blended_steps": 5}
39
+ {"event": "prediction_requested", "time_ns": 1789661983039701489, "actions_sent": 314, "prediction": 19, "queue_remaining": 12}
40
+ {"event": "plan_adopted", "time_ns": 1789661983145590144, "actions_sent": 317, "prediction": 19, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.41354203457013, "blended_steps": 5}
41
+ {"event": "prediction_requested", "time_ns": 1789661983582174555, "actions_sent": 330, "prediction": 20, "queue_remaining": 12}
42
+ {"event": "plan_adopted", "time_ns": 1789661983684527874, "actions_sent": 333, "prediction": 20, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 115.34945599851198, "blended_steps": 5}
43
+ {"event": "prediction_requested", "time_ns": 1789661984158828301, "actions_sent": 347, "prediction": 21, "queue_remaining": 12}
44
+ {"event": "plan_adopted", "time_ns": 1789661984268231312, "actions_sent": 350, "prediction": 21, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.96746100927703, "blended_steps": 5}
45
+ {"event": "prediction_requested", "time_ns": 1789661984743394462, "actions_sent": 364, "prediction": 22, "queue_remaining": 12}
46
+ {"event": "plan_adopted", "time_ns": 1789661984844553001, "actions_sent": 367, "prediction": 22, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.94887601863593, "blended_steps": 5}
47
+ {"event": "prediction_requested", "time_ns": 1789661985288976588, "actions_sent": 380, "prediction": 23, "queue_remaining": 12}
48
+ {"event": "plan_adopted", "time_ns": 1789661985393093468, "actions_sent": 383, "prediction": 23, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.04211100470275, "blended_steps": 5}
49
+ {"event": "prediction_requested", "time_ns": 1789661985865708810, "actions_sent": 397, "prediction": 24, "queue_remaining": 12}
50
+ {"event": "plan_adopted", "time_ns": 1789661985967260335, "actions_sent": 400, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.65436100098304, "blended_steps": 5}
51
+ {"event": "prediction_requested", "time_ns": 1789661986444665196, "actions_sent": 414, "prediction": 25, "queue_remaining": 12}
52
+ {"event": "plan_adopted", "time_ns": 1789661986549088448, "actions_sent": 417, "prediction": 25, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.0088770147413, "blended_steps": 5}
53
+ {"event": "prediction_requested", "time_ns": 1789661986990337261, "actions_sent": 430, "prediction": 26, "queue_remaining": 12}
54
+ {"event": "plan_adopted", "time_ns": 1789661987093155797, "actions_sent": 433, "prediction": 26, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.90425900230184, "blended_steps": 5}
55
+ {"event": "prediction_requested", "time_ns": 1789661987567331827, "actions_sent": 447, "prediction": 27, "queue_remaining": 12}
56
+ {"event": "plan_adopted", "time_ns": 1789661987669280445, "actions_sent": 450, "prediction": 27, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.75494900881313, "blended_steps": 5}
57
+ {"event": "prediction_requested", "time_ns": 1789661988143477802, "actions_sent": 464, "prediction": 28, "queue_remaining": 12}
58
+ {"event": "plan_adopted", "time_ns": 1789661988248904706, "actions_sent": 467, "prediction": 28, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.85911599290557, "blended_steps": 5}
59
+ {"event": "prediction_requested", "time_ns": 1789661988686427336, "actions_sent": 480, "prediction": 29, "queue_remaining": 12}
60
+ {"event": "plan_adopted", "time_ns": 1789661988797499287, "actions_sent": 483, "prediction": 29, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.40687401592731, "blended_steps": 5}
61
+ {"event": "prediction_requested", "time_ns": 1789661989276234452, "actions_sent": 497, "prediction": 30, "queue_remaining": 12}
62
+ {"event": "plan_adopted", "time_ns": 1789661989381933827, "actions_sent": 500, "prediction": 30, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 110.85475000436418, "blended_steps": 5}
63
+ {"event": "prediction_requested", "time_ns": 1789661989853723009, "actions_sent": 514, "prediction": 31, "queue_remaining": 12}
64
+ {"event": "plan_adopted", "time_ns": 1789661989961341694, "actions_sent": 517, "prediction": 31, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.66978400596417, "blended_steps": 5}
65
+ {"event": "prediction_requested", "time_ns": 1789661990444328356, "actions_sent": 531, "prediction": 32, "queue_remaining": 12}
66
+ {"event": "plan_adopted", "time_ns": 1789661990550975890, "actions_sent": 534, "prediction": 32, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.93297899025492, "blended_steps": 5}
67
+ {"event": "prediction_requested", "time_ns": 1789661990997531013, "actions_sent": 547, "prediction": 33, "queue_remaining": 12}
68
+ {"event": "plan_adopted", "time_ns": 1789661991105166401, "actions_sent": 550, "prediction": 33, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.76829800452106, "blended_steps": 5}
69
+ {"event": "prediction_requested", "time_ns": 1789661991578390079, "actions_sent": 564, "prediction": 34, "queue_remaining": 12}
70
+ {"event": "plan_adopted", "time_ns": 1789661991683160617, "actions_sent": 567, "prediction": 34, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.5926730229985, "blended_steps": 5}
71
+ {"event": "prediction_requested", "time_ns": 1789661992127734972, "actions_sent": 580, "prediction": 35, "queue_remaining": 12}
72
+ {"event": "plan_adopted", "time_ns": 1789661992235016444, "actions_sent": 583, "prediction": 35, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.91504902229644, "blended_steps": 5}
73
+ {"event": "prediction_requested", "time_ns": 1789661992708782879, "actions_sent": 597, "prediction": 36, "queue_remaining": 12}
74
+ {"event": "plan_adopted", "time_ns": 1789661992811961802, "actions_sent": 600, "prediction": 36, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.3702919962816, "blended_steps": 5}
75
+ {"event": "prediction_requested", "time_ns": 1789661993253399639, "actions_sent": 613, "prediction": 37, "queue_remaining": 12}
76
+ {"event": "plan_adopted", "time_ns": 1789661993356115684, "actions_sent": 616, "prediction": 37, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.27679298585281, "blended_steps": 5}
77
+ {"event": "prediction_requested", "time_ns": 1789661993826617090, "actions_sent": 630, "prediction": 38, "queue_remaining": 12}
78
+ {"event": "plan_adopted", "time_ns": 1789661993933656013, "actions_sent": 633, "prediction": 38, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.47529500140809, "blended_steps": 5}
79
+ {"event": "prediction_requested", "time_ns": 1789661994414582350, "actions_sent": 647, "prediction": 39, "queue_remaining": 12}
80
+ {"event": "plan_adopted", "time_ns": 1789661994520343155, "actions_sent": 650, "prediction": 39, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.3338570029009, "blended_steps": 5}
81
+ {"event": "prediction_requested", "time_ns": 1789661994957774159, "actions_sent": 663, "prediction": 40, "queue_remaining": 12}
82
+ {"event": "plan_adopted", "time_ns": 1789661995065990565, "actions_sent": 666, "prediction": 40, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.56389298313297, "blended_steps": 5}
83
+ {"event": "prediction_requested", "time_ns": 1789661995549973759, "actions_sent": 680, "prediction": 41, "queue_remaining": 12}
84
+ {"event": "plan_adopted", "time_ns": 1789661995657180816, "actions_sent": 683, "prediction": 41, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.96143398759887, "blended_steps": 5}
85
+ {"event": "prediction_requested", "time_ns": 1789661996099561495, "actions_sent": 696, "prediction": 42, "queue_remaining": 12}
86
+ {"event": "plan_adopted", "time_ns": 1789661996206728050, "actions_sent": 699, "prediction": 42, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.23212301777676, "blended_steps": 5}
87
+ {"event": "prediction_requested", "time_ns": 1789661996678404681, "actions_sent": 713, "prediction": 43, "queue_remaining": 12}
88
+ {"event": "plan_adopted", "time_ns": 1789661996781847833, "actions_sent": 716, "prediction": 43, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.3666219925508, "blended_steps": 5}
89
+ {"event": "prediction_requested", "time_ns": 1789661997224729224, "actions_sent": 729, "prediction": 44, "queue_remaining": 12}
90
+ {"event": "plan_adopted", "time_ns": 1789661997328435749, "actions_sent": 732, "prediction": 44, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.3967520238366, "blended_steps": 5}
91
+ {"event": "prediction_requested", "time_ns": 1789661997802514643, "actions_sent": 746, "prediction": 45, "queue_remaining": 12}
92
+ {"event": "plan_adopted", "time_ns": 1789661997907885970, "actions_sent": 749, "prediction": 45, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.87455701781437, "blended_steps": 5}
93
+ {"event": "prediction_requested", "time_ns": 1789661998344693131, "actions_sent": 762, "prediction": 46, "queue_remaining": 12}
94
+ {"event": "plan_adopted", "time_ns": 1789661998460346496, "actions_sent": 765, "prediction": 46, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 149.16548202745616, "blended_steps": 5}
95
+ {"event": "prediction_requested", "time_ns": 1789661998901040237, "actions_sent": 778, "prediction": 47, "queue_remaining": 12}
96
+ {"event": "plan_adopted", "time_ns": 1789661999005523046, "actions_sent": 781, "prediction": 47, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.5344190041069, "blended_steps": 5}
97
+ {"event": "prediction_requested", "time_ns": 1789661999476264646, "actions_sent": 795, "prediction": 48, "queue_remaining": 12}
98
+ {"event": "plan_adopted", "time_ns": 1789661999581164713, "actions_sent": 798, "prediction": 48, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.11082997219637, "blended_steps": 5}
99
+ {"event": "prediction_requested", "time_ns": 1789662000018719054, "actions_sent": 811, "prediction": 49, "queue_remaining": 12}
100
+ {"event": "plan_adopted", "time_ns": 1789662000127868821, "actions_sent": 814, "prediction": 49, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.76082798396237, "blended_steps": 5}
101
+ {"event": "prediction_requested", "time_ns": 1789662000603113892, "actions_sent": 828, "prediction": 50, "queue_remaining": 12}
102
+ {"event": "plan_adopted", "time_ns": 1789662000707267422, "actions_sent": 831, "prediction": 50, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.13157997233793, "blended_steps": 5}
103
+ {"event": "prediction_requested", "time_ns": 1789662001184780621, "actions_sent": 845, "prediction": 51, "queue_remaining": 12}
104
+ {"event": "plan_adopted", "time_ns": 1789662001290754434, "actions_sent": 848, "prediction": 51, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 146.95608499459922, "blended_steps": 5}
105
+ {"event": "prediction_requested", "time_ns": 1789662001730718054, "actions_sent": 861, "prediction": 52, "queue_remaining": 12}
106
+ {"event": "plan_adopted", "time_ns": 1789662001839134587, "actions_sent": 864, "prediction": 52, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.6782429961022, "blended_steps": 5}
107
+ {"event": "prediction_requested", "time_ns": 1789662002310824387, "actions_sent": 878, "prediction": 53, "queue_remaining": 12}
108
+ {"event": "plan_adopted", "time_ns": 1789662002416527343, "actions_sent": 881, "prediction": 53, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 141.55503700021654, "blended_steps": 5}
109
+ {"event": "prediction_requested", "time_ns": 1789662002860032653, "actions_sent": 894, "prediction": 54, "queue_remaining": 12}
110
+ {"event": "plan_adopted", "time_ns": 1789662002966124493, "actions_sent": 897, "prediction": 54, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.11264198413119, "blended_steps": 5}
111
+ {"event": "prediction_requested", "time_ns": 1789662003439957399, "actions_sent": 911, "prediction": 55, "queue_remaining": 12}
112
+ {"event": "plan_adopted", "time_ns": 1789662003606190078, "actions_sent": 914, "prediction": 55, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.66486901254393, "blended_steps": 5}
113
+ {"event": "prediction_requested", "time_ns": 1789662004042897194, "actions_sent": 927, "prediction": 56, "queue_remaining": 12}
114
+ {"event": "plan_adopted", "time_ns": 1789662004150885222, "actions_sent": 930, "prediction": 56, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.3344769710675, "blended_steps": 5}
115
+ {"event": "prediction_requested", "time_ns": 1789662004590603530, "actions_sent": 943, "prediction": 57, "queue_remaining": 12}
116
+ {"event": "plan_adopted", "time_ns": 1789662004798859520, "actions_sent": 949, "prediction": 57, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.53962200297974, "blended_steps": 5}
117
+ {"event": "prediction_requested", "time_ns": 1789662005269543206, "actions_sent": 963, "prediction": 58, "queue_remaining": 12}
118
+ {"event": "failed", "time_ns": 1789662005675073300, "actions_sent": 975, "error": "RuntimeError: async action queue empty; stopping instead of replaying old actions"}