Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/debug/async_events.jsonl +53 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/manifests/action.json +29 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/manifests/camera.json +104 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/manifests/event.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/manifests/robot.json +37 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/workflow_manifest.json +612 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/debug/async_events.jsonl +47 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/debug/async_events.jsonl +43 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/action.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/event.json +27 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/workflow_manifest.json +614 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/debug/async_events.jsonl +37 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/manifests/action.json +29 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/manifests/camera.json +104 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/manifests/event.json +28 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/manifests/robot.json +37 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/workflow_manifest.json +612 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0005/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0005/camera/metadata.json +59 -0
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/action/executed_action_dict.pkl
ADDED
|
Binary file (71 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/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": 449,
|
| 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": 450,
|
| 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": 452,
|
| 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/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/camera/timestamp.pkl
ADDED
|
Binary file (10.9 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,53 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789903361369618629, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
+
{"event": "plan_adopted", "time_ns": 1789903361504714555, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 121.21555002522655, "blended_steps": 0}
|
| 3 |
+
{"event": "prediction_requested", "time_ns": 1789903362109889129, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
+
{"event": "plan_adopted", "time_ns": 1789903362218903678, "actions_sent": 21, "prediction": 1, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.49522998114116, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789903362669764823, "actions_sent": 34, "prediction": 2, "queue_remaining": 12}
|
| 6 |
+
{"event": "plan_adopted", "time_ns": 1789903362776270049, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.87940698419698, "blended_steps": 5}
|
| 7 |
+
{"event": "prediction_requested", "time_ns": 1789903363252995587, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
+
{"event": "plan_adopted", "time_ns": 1789903363354803979, "actions_sent": 54, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 109.77469498175196, "blended_steps": 5}
|
| 9 |
+
{"event": "prediction_requested", "time_ns": 1789903363831456756, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
+
{"event": "plan_adopted", "time_ns": 1789903363936383849, "actions_sent": 71, "prediction": 4, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.13932101824321, "blended_steps": 5}
|
| 11 |
+
{"event": "prediction_requested", "time_ns": 1789903364414950050, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
|
| 12 |
+
{"event": "plan_adopted", "time_ns": 1789903364518209687, "actions_sent": 88, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 106.2765929964371, "blended_steps": 5}
|
| 13 |
+
{"event": "prediction_requested", "time_ns": 1789903364990107068, "actions_sent": 102, "prediction": 6, "queue_remaining": 12}
|
| 14 |
+
{"event": "plan_adopted", "time_ns": 1789903365064391007, "actions_sent": 104, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.18520401720889, "blended_steps": 5}
|
| 15 |
+
{"event": "prediction_requested", "time_ns": 1789903365552562170, "actions_sent": 118, "prediction": 7, "queue_remaining": 12}
|
| 16 |
+
{"event": "plan_adopted", "time_ns": 1789903365659368409, "actions_sent": 121, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 110.00509498990141, "blended_steps": 5}
|
| 17 |
+
{"event": "prediction_requested", "time_ns": 1789903366143537378, "actions_sent": 135, "prediction": 8, "queue_remaining": 12}
|
| 18 |
+
{"event": "plan_adopted", "time_ns": 1789903366211360394, "actions_sent": 137, "prediction": 8, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 99.61252100765705, "blended_steps": 5}
|
| 19 |
+
{"event": "prediction_requested", "time_ns": 1789903366721717513, "actions_sent": 152, "prediction": 9, "queue_remaining": 12}
|
| 20 |
+
{"event": "plan_adopted", "time_ns": 1789903366828165943, "actions_sent": 155, "prediction": 9, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 148.67807301925495, "blended_steps": 5}
|
| 21 |
+
{"event": "prediction_requested", "time_ns": 1789903367276301925, "actions_sent": 168, "prediction": 10, "queue_remaining": 12}
|
| 22 |
+
{"event": "plan_adopted", "time_ns": 1789903367384771697, "actions_sent": 171, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.56988499476574, "blended_steps": 5}
|
| 23 |
+
{"event": "prediction_requested", "time_ns": 1789903367829182561, "actions_sent": 184, "prediction": 11, "queue_remaining": 12}
|
| 24 |
+
{"event": "plan_adopted", "time_ns": 1789903367933594962, "actions_sent": 187, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.195687973639, "blended_steps": 5}
|
| 25 |
+
{"event": "prediction_requested", "time_ns": 1789903368405994062, "actions_sent": 201, "prediction": 12, "queue_remaining": 12}
|
| 26 |
+
{"event": "plan_adopted", "time_ns": 1789903368513535114, "actions_sent": 204, "prediction": 12, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.62956698215567, "blended_steps": 5}
|
| 27 |
+
{"event": "prediction_requested", "time_ns": 1789903368989000175, "actions_sent": 218, "prediction": 13, "queue_remaining": 12}
|
| 28 |
+
{"event": "plan_adopted", "time_ns": 1789903369101994921, "actions_sent": 221, "prediction": 13, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 150.58195500751026, "blended_steps": 5}
|
| 29 |
+
{"event": "prediction_requested", "time_ns": 1789903369542503281, "actions_sent": 234, "prediction": 14, "queue_remaining": 12}
|
| 30 |
+
{"event": "plan_adopted", "time_ns": 1789903369647891122, "actions_sent": 237, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 133.06477799778804, "blended_steps": 5}
|
| 31 |
+
{"event": "prediction_requested", "time_ns": 1789903370122824456, "actions_sent": 251, "prediction": 15, "queue_remaining": 12}
|
| 32 |
+
{"event": "plan_adopted", "time_ns": 1789903370226628185, "actions_sent": 254, "prediction": 15, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.7107880085241, "blended_steps": 5}
|
| 33 |
+
{"event": "prediction_requested", "time_ns": 1789903370669610536, "actions_sent": 267, "prediction": 16, "queue_remaining": 12}
|
| 34 |
+
{"event": "plan_adopted", "time_ns": 1789903370772899160, "actions_sent": 270, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.90671101841144, "blended_steps": 5}
|
| 35 |
+
{"event": "prediction_requested", "time_ns": 1789903371246756617, "actions_sent": 284, "prediction": 17, "queue_remaining": 12}
|
| 36 |
+
{"event": "plan_adopted", "time_ns": 1789903371316807627, "actions_sent": 286, "prediction": 17, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 103.82054900401272, "blended_steps": 5}
|
| 37 |
+
{"event": "prediction_requested", "time_ns": 1789903371787080697, "actions_sent": 300, "prediction": 18, "queue_remaining": 12}
|
| 38 |
+
{"event": "plan_adopted", "time_ns": 1789903371893459273, "actions_sent": 303, "prediction": 18, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.11065298877656, "blended_steps": 5}
|
| 39 |
+
{"event": "prediction_requested", "time_ns": 1789903372339485309, "actions_sent": 316, "prediction": 19, "queue_remaining": 12}
|
| 40 |
+
{"event": "plan_adopted", "time_ns": 1789903372442322643, "actions_sent": 319, "prediction": 19, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.69421402481385, "blended_steps": 5}
|
| 41 |
+
{"event": "prediction_requested", "time_ns": 1789903372916896790, "actions_sent": 333, "prediction": 20, "queue_remaining": 12}
|
| 42 |
+
{"event": "plan_adopted", "time_ns": 1789903373021529885, "actions_sent": 336, "prediction": 20, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 104.80874200584367, "blended_steps": 5}
|
| 43 |
+
{"event": "prediction_requested", "time_ns": 1789903373498146697, "actions_sent": 350, "prediction": 21, "queue_remaining": 12}
|
| 44 |
+
{"event": "plan_adopted", "time_ns": 1789903373604289429, "actions_sent": 353, "prediction": 21, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.96645198087208, "blended_steps": 5}
|
| 45 |
+
{"event": "prediction_requested", "time_ns": 1789903374080522348, "actions_sent": 367, "prediction": 22, "queue_remaining": 12}
|
| 46 |
+
{"event": "plan_adopted", "time_ns": 1789903374187373637, "actions_sent": 370, "prediction": 22, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.08191399928182, "blended_steps": 5}
|
| 47 |
+
{"event": "prediction_requested", "time_ns": 1789903374626784241, "actions_sent": 383, "prediction": 23, "queue_remaining": 12}
|
| 48 |
+
{"event": "plan_adopted", "time_ns": 1789903374731357594, "actions_sent": 386, "prediction": 23, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 116.1517400178127, "blended_steps": 5}
|
| 49 |
+
{"event": "prediction_requested", "time_ns": 1789903375201037961, "actions_sent": 400, "prediction": 24, "queue_remaining": 12}
|
| 50 |
+
{"event": "plan_adopted", "time_ns": 1789903375309429804, "actions_sent": 403, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.94923199201003, "blended_steps": 5}
|
| 51 |
+
{"event": "prediction_requested", "time_ns": 1789903375785000511, "actions_sent": 417, "prediction": 25, "queue_remaining": 12}
|
| 52 |
+
{"event": "plan_adopted", "time_ns": 1789903375888948707, "actions_sent": 420, "prediction": 25, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 105.9155180118978, "blended_steps": 5}
|
| 53 |
+
{"event": "operator_stopped", "time_ns": 1789903376092919886, "actions_sent": 426, "result": "success"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 426,
|
| 5 |
+
"camera.base_0_rgb": 449,
|
| 6 |
+
"camera.left_wrist_0_rgb": 450,
|
| 7 |
+
"camera.right_wrist_0_rgb": 452,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3689,
|
| 11 |
+
"robot.robot_state": 1911
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0001",
|
| 14 |
+
"executed_actions": 426,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 1,
|
| 19 |
+
"run_id": "20260920_192234_199338_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": 1789903376.2089415
|
| 28 |
+
}
|
| 29 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/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": 449
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 449,
|
| 7 |
+
"complete_sensor_bundles": 449,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 426,
|
| 10 |
+
"camera.base_0_rgb": 449,
|
| 11 |
+
"camera.left_wrist_0_rgb": 450,
|
| 12 |
+
"camera.right_wrist_0_rgb": 452,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 3689,
|
| 16 |
+
"robot.robot_state": 1911
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "20260920_192234_199338_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": 1789903376.2089415
|
| 35 |
+
},
|
| 36 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 37 |
+
"camera_frames": {
|
| 38 |
+
"left_wrist_0_rgb": 450
|
| 39 |
+
},
|
| 40 |
+
"camera_timestamp_samples": 450,
|
| 41 |
+
"complete_sensor_bundles": 450,
|
| 42 |
+
"counts": {
|
| 43 |
+
"action.executed": 426,
|
| 44 |
+
"camera.base_0_rgb": 449,
|
| 45 |
+
"camera.left_wrist_0_rgb": 450,
|
| 46 |
+
"camera.right_wrist_0_rgb": 452,
|
| 47 |
+
"dropped": 0,
|
| 48 |
+
"event.workflow": 1,
|
| 49 |
+
"items": 3689,
|
| 50 |
+
"robot.robot_state": 1911
|
| 51 |
+
},
|
| 52 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 53 |
+
"duplicate_sensor_messages": 0,
|
| 54 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "20260920_192234_199338_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": 1789903376.2089415
|
| 69 |
+
},
|
| 70 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 71 |
+
"camera_frames": {
|
| 72 |
+
"right_wrist_0_rgb": 452
|
| 73 |
+
},
|
| 74 |
+
"camera_timestamp_samples": 452,
|
| 75 |
+
"complete_sensor_bundles": 452,
|
| 76 |
+
"counts": {
|
| 77 |
+
"action.executed": 426,
|
| 78 |
+
"camera.base_0_rgb": 449,
|
| 79 |
+
"camera.left_wrist_0_rgb": 450,
|
| 80 |
+
"camera.right_wrist_0_rgb": 452,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"event.workflow": 1,
|
| 83 |
+
"items": 3689,
|
| 84 |
+
"robot.robot_state": 1911
|
| 85 |
+
},
|
| 86 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 87 |
+
"duplicate_sensor_messages": 0,
|
| 88 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "20260920_192234_199338_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": 1789903376.2089415
|
| 103 |
+
}
|
| 104 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 426,
|
| 5 |
+
"camera.base_0_rgb": 449,
|
| 6 |
+
"camera.left_wrist_0_rgb": 450,
|
| 7 |
+
"camera.right_wrist_0_rgb": 452,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3689,
|
| 11 |
+
"robot.robot_state": 1911
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "20260920_192234_199338_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": 1789903376.2089415
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 426,
|
| 5 |
+
"camera.base_0_rgb": 449,
|
| 6 |
+
"camera.left_wrist_0_rgb": 450,
|
| 7 |
+
"camera.right_wrist_0_rgb": 452,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3689,
|
| 11 |
+
"robot.robot_state": 1911
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0001",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1911,
|
| 17 |
+
"right": 1911
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 1,
|
| 22 |
+
"run_id": "20260920_192234_199338_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": 1911,
|
| 31 |
+
"right": 1911
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1789903376.2089415
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0001/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/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": 426,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 106,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 26,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 26,
|
| 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_20260920_192234_199338",
|
| 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/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "Use the right arm to pick up the pomegranate and place it in the bowl.",
|
| 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": "20260920_192234_199338_round_0001",
|
| 313 |
+
"output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0001",
|
| 314 |
+
"runtime_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/metadata/runtime",
|
| 315 |
+
"steps": 40,
|
| 316 |
+
"wait_ready_timeout_s": 30.0
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0001",
|
| 320 |
+
"next_round_confirmed": true,
|
| 321 |
+
"operator_command_file": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": 426,
|
| 548 |
+
"camera.base_0_rgb": 449,
|
| 549 |
+
"camera.left_wrist_0_rgb": 450,
|
| 550 |
+
"camera.right_wrist_0_rgb": 452,
|
| 551 |
+
"dropped": 0,
|
| 552 |
+
"event.workflow": 1,
|
| 553 |
+
"items": 3689,
|
| 554 |
+
"robot.robot_state": 1911
|
| 555 |
+
},
|
| 556 |
+
"recording": false,
|
| 557 |
+
"recording_enabled": true
|
| 558 |
+
},
|
| 559 |
+
"reviewed_at_ns": 1789903376091386979,
|
| 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/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/action/executed_action_dict.pkl
ADDED
|
Binary file (62.7 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/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": 397,
|
| 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": 397,
|
| 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": 397,
|
| 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/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/camera/timestamp.pkl
ADDED
|
Binary file (9.6 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,47 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789903392417430277, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
+
{"event": "plan_adopted", "time_ns": 1789903392563653434, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 98.93920598551631, "blended_steps": 0}
|
| 3 |
+
{"event": "prediction_requested", "time_ns": 1789903393181468583, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
+
{"event": "plan_adopted", "time_ns": 1789903393286350513, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 133.28028700198047, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789903393759635995, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
+
{"event": "plan_adopted", "time_ns": 1789903393864657451, "actions_sent": 38, "prediction": 2, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.50810602284037, "blended_steps": 5}
|
| 7 |
+
{"event": "prediction_requested", "time_ns": 1789903394303579477, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
+
{"event": "plan_adopted", "time_ns": 1789903394409691107, "actions_sent": 54, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.27460798062384, "blended_steps": 5}
|
| 9 |
+
{"event": "prediction_requested", "time_ns": 1789903394887477363, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
+
{"event": "plan_adopted", "time_ns": 1789903394990188765, "actions_sent": 71, "prediction": 4, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.9377090013586, "blended_steps": 5}
|
| 11 |
+
{"event": "prediction_requested", "time_ns": 1789903395428317310, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
|
| 12 |
+
{"event": "plan_adopted", "time_ns": 1789903395533671886, "actions_sent": 87, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.31304798927158, "blended_steps": 5}
|
| 13 |
+
{"event": "prediction_requested", "time_ns": 1789903395970284114, "actions_sent": 100, "prediction": 6, "queue_remaining": 12}
|
| 14 |
+
{"event": "plan_adopted", "time_ns": 1789903396073737245, "actions_sent": 103, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.41246397327632, "blended_steps": 5}
|
| 15 |
+
{"event": "prediction_requested", "time_ns": 1789903396548841510, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
|
| 16 |
+
{"event": "plan_adopted", "time_ns": 1789903396653675162, "actions_sent": 120, "prediction": 7, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 133.4266630001366, "blended_steps": 5}
|
| 17 |
+
{"event": "prediction_requested", "time_ns": 1789903397093184643, "actions_sent": 133, "prediction": 8, "queue_remaining": 12}
|
| 18 |
+
{"event": "plan_adopted", "time_ns": 1789903397194476962, "actions_sent": 136, "prediction": 8, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.0757029845845, "blended_steps": 5}
|
| 19 |
+
{"event": "prediction_requested", "time_ns": 1789903397637932929, "actions_sent": 149, "prediction": 9, "queue_remaining": 12}
|
| 20 |
+
{"event": "plan_adopted", "time_ns": 1789903397743245581, "actions_sent": 152, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.91844000294805, "blended_steps": 5}
|
| 21 |
+
{"event": "prediction_requested", "time_ns": 1789903398214795960, "actions_sent": 166, "prediction": 10, "queue_remaining": 12}
|
| 22 |
+
{"event": "plan_adopted", "time_ns": 1789903398322525313, "actions_sent": 169, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.7196510101203, "blended_steps": 5}
|
| 23 |
+
{"event": "prediction_requested", "time_ns": 1789903398801910625, "actions_sent": 183, "prediction": 11, "queue_remaining": 12}
|
| 24 |
+
{"event": "plan_adopted", "time_ns": 1789903398905005114, "actions_sent": 186, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.11661398294382, "blended_steps": 5}
|
| 25 |
+
{"event": "prediction_requested", "time_ns": 1789903399386957237, "actions_sent": 200, "prediction": 12, "queue_remaining": 12}
|
| 26 |
+
{"event": "plan_adopted", "time_ns": 1789903399493906584, "actions_sent": 203, "prediction": 12, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.78769700042903, "blended_steps": 5}
|
| 27 |
+
{"event": "prediction_requested", "time_ns": 1789903399930847533, "actions_sent": 216, "prediction": 13, "queue_remaining": 12}
|
| 28 |
+
{"event": "plan_adopted", "time_ns": 1789903400036583193, "actions_sent": 219, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 114.03096999856643, "blended_steps": 5}
|
| 29 |
+
{"event": "prediction_requested", "time_ns": 1789903400511611529, "actions_sent": 233, "prediction": 14, "queue_remaining": 12}
|
| 30 |
+
{"event": "plan_adopted", "time_ns": 1789903400619168330, "actions_sent": 236, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.41329399775714, "blended_steps": 5}
|
| 31 |
+
{"event": "prediction_requested", "time_ns": 1789903401088501146, "actions_sent": 250, "prediction": 15, "queue_remaining": 12}
|
| 32 |
+
{"event": "plan_adopted", "time_ns": 1789903401192848097, "actions_sent": 253, "prediction": 15, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.3925810039509, "blended_steps": 5}
|
| 33 |
+
{"event": "prediction_requested", "time_ns": 1789903401636771122, "actions_sent": 266, "prediction": 16, "queue_remaining": 12}
|
| 34 |
+
{"event": "plan_adopted", "time_ns": 1789903401743531080, "actions_sent": 269, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.82140700961463, "blended_steps": 5}
|
| 35 |
+
{"event": "prediction_requested", "time_ns": 1789903402220909849, "actions_sent": 283, "prediction": 17, "queue_remaining": 12}
|
| 36 |
+
{"event": "plan_adopted", "time_ns": 1789903402331376471, "actions_sent": 286, "prediction": 17, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.1395790008828, "blended_steps": 5}
|
| 37 |
+
{"event": "prediction_requested", "time_ns": 1789903402777531728, "actions_sent": 299, "prediction": 18, "queue_remaining": 12}
|
| 38 |
+
{"event": "plan_adopted", "time_ns": 1789903402880469670, "actions_sent": 302, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.97248498443514, "blended_steps": 5}
|
| 39 |
+
{"event": "prediction_requested", "time_ns": 1789903403361750451, "actions_sent": 316, "prediction": 19, "queue_remaining": 12}
|
| 40 |
+
{"event": "plan_adopted", "time_ns": 1789903403468103703, "actions_sent": 319, "prediction": 19, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 143.57350699719973, "blended_steps": 5}
|
| 41 |
+
{"event": "prediction_requested", "time_ns": 1789903403912534742, "actions_sent": 332, "prediction": 20, "queue_remaining": 12}
|
| 42 |
+
{"event": "plan_adopted", "time_ns": 1789903404013985161, "actions_sent": 335, "prediction": 20, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 126.54757499694824, "blended_steps": 5}
|
| 43 |
+
{"event": "prediction_requested", "time_ns": 1789903404490949789, "actions_sent": 349, "prediction": 21, "queue_remaining": 12}
|
| 44 |
+
{"event": "plan_adopted", "time_ns": 1789903404594712372, "actions_sent": 352, "prediction": 21, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 104.80629399535246, "blended_steps": 5}
|
| 45 |
+
{"event": "prediction_requested", "time_ns": 1789903405074230739, "actions_sent": 366, "prediction": 22, "queue_remaining": 12}
|
| 46 |
+
{"event": "plan_adopted", "time_ns": 1789903405178373005, "actions_sent": 369, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.43185298959725, "blended_steps": 5}
|
| 47 |
+
{"event": "operator_stopped", "time_ns": 1789903405417189018, "actions_sent": 376, "result": "success"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 376,
|
| 5 |
+
"camera.base_0_rgb": 397,
|
| 6 |
+
"camera.left_wrist_0_rgb": 397,
|
| 7 |
+
"camera.right_wrist_0_rgb": 397,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3156,
|
| 11 |
+
"robot.robot_state": 1588
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0002",
|
| 14 |
+
"executed_actions": 376,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 2,
|
| 18 |
+
"run_id": "20260920_192234_199338_round_0002",
|
| 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": 1789903405.5310209
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 397
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 397,
|
| 7 |
+
"complete_sensor_bundles": 397,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 376,
|
| 10 |
+
"camera.base_0_rgb": 397,
|
| 11 |
+
"camera.left_wrist_0_rgb": 397,
|
| 12 |
+
"camera.right_wrist_0_rgb": 397,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 3156,
|
| 16 |
+
"robot.robot_state": 1588
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0002",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 2,
|
| 24 |
+
"run_id": "20260920_192234_199338_round_0002",
|
| 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": 1789903405.5310209
|
| 34 |
+
},
|
| 35 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
+
"camera_frames": {
|
| 37 |
+
"left_wrist_0_rgb": 397
|
| 38 |
+
},
|
| 39 |
+
"camera_timestamp_samples": 397,
|
| 40 |
+
"complete_sensor_bundles": 397,
|
| 41 |
+
"counts": {
|
| 42 |
+
"action.executed": 376,
|
| 43 |
+
"camera.base_0_rgb": 397,
|
| 44 |
+
"camera.left_wrist_0_rgb": 397,
|
| 45 |
+
"camera.right_wrist_0_rgb": 397,
|
| 46 |
+
"dropped": 0,
|
| 47 |
+
"event.workflow": 1,
|
| 48 |
+
"items": 3156,
|
| 49 |
+
"robot.robot_state": 1588
|
| 50 |
+
},
|
| 51 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 52 |
+
"duplicate_sensor_messages": 0,
|
| 53 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0002",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 2,
|
| 57 |
+
"run_id": "20260920_192234_199338_round_0002",
|
| 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": 1789903405.5310209
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 397
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 397,
|
| 73 |
+
"complete_sensor_bundles": 397,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 376,
|
| 76 |
+
"camera.base_0_rgb": 397,
|
| 77 |
+
"camera.left_wrist_0_rgb": 397,
|
| 78 |
+
"camera.right_wrist_0_rgb": 397,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 3156,
|
| 82 |
+
"robot.robot_state": 1588
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0002",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 2,
|
| 90 |
+
"run_id": "20260920_192234_199338_round_0002",
|
| 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": 1789903405.5310209
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 376,
|
| 5 |
+
"camera.base_0_rgb": 397,
|
| 6 |
+
"camera.left_wrist_0_rgb": 397,
|
| 7 |
+
"camera.right_wrist_0_rgb": 397,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3156,
|
| 11 |
+
"robot.robot_state": 1588
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0002",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 2,
|
| 18 |
+
"run_id": "20260920_192234_199338_round_0002",
|
| 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": 1789903405.5310209
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 376,
|
| 5 |
+
"camera.base_0_rgb": 397,
|
| 6 |
+
"camera.left_wrist_0_rgb": 397,
|
| 7 |
+
"camera.right_wrist_0_rgb": 397,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 3156,
|
| 11 |
+
"robot.robot_state": 1588
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0002",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1588,
|
| 17 |
+
"right": 1588
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 2,
|
| 21 |
+
"run_id": "20260920_192234_199338_round_0002",
|
| 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": 1588,
|
| 30 |
+
"right": 1588
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789903405.5310209
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0002/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/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": 376,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 97,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 23,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 23,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 12,
|
| 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_20260920_192234_199338",
|
| 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/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "Use the right arm to pick up the pomegranate and place it in the bowl.",
|
| 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": "20260920_192234_199338_round_0002",
|
| 313 |
+
"output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0002",
|
| 314 |
+
"runtime_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/metadata/runtime",
|
| 315 |
+
"steps": 40,
|
| 316 |
+
"wait_ready_timeout_s": 30.0
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0002",
|
| 320 |
+
"next_round_confirmed": true,
|
| 321 |
+
"observation_not_before_ns": 1789903392414334866,
|
| 322 |
+
"operator_command_file": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": 376,
|
| 549 |
+
"camera.base_0_rgb": 397,
|
| 550 |
+
"camera.left_wrist_0_rgb": 397,
|
| 551 |
+
"camera.right_wrist_0_rgb": 397,
|
| 552 |
+
"dropped": 0,
|
| 553 |
+
"event.workflow": 1,
|
| 554 |
+
"items": 3156,
|
| 555 |
+
"robot.robot_state": 1588
|
| 556 |
+
},
|
| 557 |
+
"recording": false,
|
| 558 |
+
"recording_enabled": true
|
| 559 |
+
},
|
| 560 |
+
"reviewed_at_ns": 1789903405417012167,
|
| 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/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/action/executed_action_dict.pkl
ADDED
|
Binary file (58.6 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/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": 371,
|
| 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": 371,
|
| 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": 371,
|
| 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/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/camera/timestamp.pkl
ADDED
|
Binary file (8.97 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789903418595495606, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
+
{"event": "plan_adopted", "time_ns": 1789903418718970411, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 87.18940598191693, "blended_steps": 0}
|
| 3 |
+
{"event": "prediction_requested", "time_ns": 1789903419327878327, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
+
{"event": "plan_adopted", "time_ns": 1789903419434903665, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 107.34466800931841, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789903419911471574, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
+
{"event": "plan_adopted", "time_ns": 1789903419983934877, "actions_sent": 37, "prediction": 2, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 90.24455698090605, "blended_steps": 5}
|
| 7 |
+
{"event": "prediction_requested", "time_ns": 1789903420490720650, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
|
| 8 |
+
{"event": "plan_adopted", "time_ns": 1789903420594873454, "actions_sent": 55, "prediction": 3, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.9787009821739, "blended_steps": 5}
|
| 9 |
+
{"event": "prediction_requested", "time_ns": 1789903421043691333, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
+
{"event": "plan_adopted", "time_ns": 1789903421118906626, "actions_sent": 70, "prediction": 4, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 90.41483298642561, "blended_steps": 5}
|
| 11 |
+
{"event": "prediction_requested", "time_ns": 1789903421629344174, "actions_sent": 85, "prediction": 5, "queue_remaining": 12}
|
| 12 |
+
{"event": "plan_adopted", "time_ns": 1789903421734135549, "actions_sent": 88, "prediction": 5, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 139.7491590178106, "blended_steps": 5}
|
| 13 |
+
{"event": "prediction_requested", "time_ns": 1789903422173876787, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
|
| 14 |
+
{"event": "plan_adopted", "time_ns": 1789903422279901164, "actions_sent": 104, "prediction": 6, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.80082998727448, "blended_steps": 5}
|
| 15 |
+
{"event": "prediction_requested", "time_ns": 1789903422754062787, "actions_sent": 118, "prediction": 7, "queue_remaining": 12}
|
| 16 |
+
{"event": "plan_adopted", "time_ns": 1789903422862290085, "actions_sent": 121, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.46556001831777, "blended_steps": 5}
|
| 17 |
+
{"event": "prediction_requested", "time_ns": 1789903423346278570, "actions_sent": 135, "prediction": 8, "queue_remaining": 12}
|
| 18 |
+
{"event": "plan_adopted", "time_ns": 1789903423451437976, "actions_sent": 138, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.46925799991004, "blended_steps": 5}
|
| 19 |
+
{"event": "prediction_requested", "time_ns": 1789903423927687781, "actions_sent": 152, "prediction": 9, "queue_remaining": 12}
|
| 20 |
+
{"event": "plan_adopted", "time_ns": 1789903424034157851, "actions_sent": 155, "prediction": 9, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.19500998943113, "blended_steps": 5}
|
| 21 |
+
{"event": "prediction_requested", "time_ns": 1789903424471116145, "actions_sent": 168, "prediction": 10, "queue_remaining": 12}
|
| 22 |
+
{"event": "plan_adopted", "time_ns": 1789903424576471500, "actions_sent": 171, "prediction": 10, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 148.1985819991678, "blended_steps": 5}
|
| 23 |
+
{"event": "prediction_requested", "time_ns": 1789903425021357267, "actions_sent": 184, "prediction": 11, "queue_remaining": 12}
|
| 24 |
+
{"event": "plan_adopted", "time_ns": 1789903425126266847, "actions_sent": 187, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 130.8190590061713, "blended_steps": 5}
|
| 25 |
+
{"event": "prediction_requested", "time_ns": 1789903425596738414, "actions_sent": 201, "prediction": 12, "queue_remaining": 12}
|
| 26 |
+
{"event": "plan_adopted", "time_ns": 1789903425702064833, "actions_sent": 204, "prediction": 12, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.51000800868496, "blended_steps": 5}
|
| 27 |
+
{"event": "prediction_requested", "time_ns": 1789903426144091815, "actions_sent": 217, "prediction": 13, "queue_remaining": 12}
|
| 28 |
+
{"event": "plan_adopted", "time_ns": 1789903426251462221, "actions_sent": 220, "prediction": 13, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.57813900173642, "blended_steps": 5}
|
| 29 |
+
{"event": "prediction_requested", "time_ns": 1789903426726078801, "actions_sent": 234, "prediction": 14, "queue_remaining": 12}
|
| 30 |
+
{"event": "plan_adopted", "time_ns": 1789903426829289559, "actions_sent": 237, "prediction": 14, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.16514500952326, "blended_steps": 5}
|
| 31 |
+
{"event": "prediction_requested", "time_ns": 1789903427267896525, "actions_sent": 250, "prediction": 15, "queue_remaining": 12}
|
| 32 |
+
{"event": "plan_adopted", "time_ns": 1789903427376923239, "actions_sent": 253, "prediction": 15, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 114.90223099826835, "blended_steps": 5}
|
| 33 |
+
{"event": "prediction_requested", "time_ns": 1789903427845867066, "actions_sent": 267, "prediction": 16, "queue_remaining": 12}
|
| 34 |
+
{"event": "plan_adopted", "time_ns": 1789903427952204206, "actions_sent": 270, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 121.04886703309603, "blended_steps": 5}
|
| 35 |
+
{"event": "prediction_requested", "time_ns": 1789903428423700405, "actions_sent": 284, "prediction": 17, "queue_remaining": 12}
|
| 36 |
+
{"event": "plan_adopted", "time_ns": 1789903428494194450, "actions_sent": 286, "prediction": 17, "queue_remaining": 27, "skipped_prefix": 3, "observation_age_ms": 98.90318399993703, "blended_steps": 5}
|
| 37 |
+
{"event": "prediction_requested", "time_ns": 1789903429013974221, "actions_sent": 301, "prediction": 18, "queue_remaining": 12}
|
| 38 |
+
{"event": "plan_adopted", "time_ns": 1789903429118880084, "actions_sent": 304, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 122.29232597746886, "blended_steps": 5}
|
| 39 |
+
{"event": "prediction_requested", "time_ns": 1789903429594141046, "actions_sent": 318, "prediction": 19, "queue_remaining": 12}
|
| 40 |
+
{"event": "plan_adopted", "time_ns": 1789903429695603336, "actions_sent": 321, "prediction": 19, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 135.4439199785702, "blended_steps": 5}
|
| 41 |
+
{"event": "prediction_requested", "time_ns": 1789903430144989714, "actions_sent": 334, "prediction": 20, "queue_remaining": 12}
|
| 42 |
+
{"event": "plan_adopted", "time_ns": 1789903430252803738, "actions_sent": 337, "prediction": 20, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 120.46328099677339, "blended_steps": 5}
|
| 43 |
+
{"event": "operator_stopped", "time_ns": 1789903430729692338, "actions_sent": 351, "result": "failure"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 351,
|
| 5 |
+
"camera.base_0_rgb": 371,
|
| 6 |
+
"camera.left_wrist_0_rgb": 371,
|
| 7 |
+
"camera.right_wrist_0_rgb": 371,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2950,
|
| 11 |
+
"robot.robot_state": 1485
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0003",
|
| 14 |
+
"executed_actions": 351,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 3,
|
| 18 |
+
"run_id": "20260920_192234_199338_round_0003",
|
| 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": 1789903430.8269713
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 371
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 371,
|
| 7 |
+
"complete_sensor_bundles": 371,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 351,
|
| 10 |
+
"camera.base_0_rgb": 371,
|
| 11 |
+
"camera.left_wrist_0_rgb": 371,
|
| 12 |
+
"camera.right_wrist_0_rgb": 371,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 2950,
|
| 16 |
+
"robot.robot_state": 1485
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0003",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"round_number": 3,
|
| 24 |
+
"run_id": "20260920_192234_199338_round_0003",
|
| 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": 1789903430.8269713
|
| 34 |
+
},
|
| 35 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
+
"camera_frames": {
|
| 37 |
+
"left_wrist_0_rgb": 371
|
| 38 |
+
},
|
| 39 |
+
"camera_timestamp_samples": 371,
|
| 40 |
+
"complete_sensor_bundles": 371,
|
| 41 |
+
"counts": {
|
| 42 |
+
"action.executed": 351,
|
| 43 |
+
"camera.base_0_rgb": 371,
|
| 44 |
+
"camera.left_wrist_0_rgb": 371,
|
| 45 |
+
"camera.right_wrist_0_rgb": 371,
|
| 46 |
+
"dropped": 0,
|
| 47 |
+
"event.workflow": 1,
|
| 48 |
+
"items": 2950,
|
| 49 |
+
"robot.robot_state": 1485
|
| 50 |
+
},
|
| 51 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 52 |
+
"duplicate_sensor_messages": 0,
|
| 53 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0003",
|
| 54 |
+
"failure": "",
|
| 55 |
+
"metadata": {
|
| 56 |
+
"round_number": 3,
|
| 57 |
+
"run_id": "20260920_192234_199338_round_0003",
|
| 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": 1789903430.8269713
|
| 67 |
+
},
|
| 68 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
+
"camera_frames": {
|
| 70 |
+
"right_wrist_0_rgb": 371
|
| 71 |
+
},
|
| 72 |
+
"camera_timestamp_samples": 371,
|
| 73 |
+
"complete_sensor_bundles": 371,
|
| 74 |
+
"counts": {
|
| 75 |
+
"action.executed": 351,
|
| 76 |
+
"camera.base_0_rgb": 371,
|
| 77 |
+
"camera.left_wrist_0_rgb": 371,
|
| 78 |
+
"camera.right_wrist_0_rgb": 371,
|
| 79 |
+
"dropped": 0,
|
| 80 |
+
"event.workflow": 1,
|
| 81 |
+
"items": 2950,
|
| 82 |
+
"robot.robot_state": 1485
|
| 83 |
+
},
|
| 84 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
+
"duplicate_sensor_messages": 0,
|
| 86 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0003",
|
| 87 |
+
"failure": "",
|
| 88 |
+
"metadata": {
|
| 89 |
+
"round_number": 3,
|
| 90 |
+
"run_id": "20260920_192234_199338_round_0003",
|
| 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": 1789903430.8269713
|
| 100 |
+
}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 351,
|
| 5 |
+
"camera.base_0_rgb": 371,
|
| 6 |
+
"camera.left_wrist_0_rgb": 371,
|
| 7 |
+
"camera.right_wrist_0_rgb": 371,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2950,
|
| 11 |
+
"robot.robot_state": 1485
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0003",
|
| 14 |
+
"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 3,
|
| 18 |
+
"run_id": "20260920_192234_199338_round_0003",
|
| 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": 1789903430.8269713
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 351,
|
| 5 |
+
"camera.base_0_rgb": 371,
|
| 6 |
+
"camera.left_wrist_0_rgb": 371,
|
| 7 |
+
"camera.right_wrist_0_rgb": 371,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2950,
|
| 11 |
+
"robot.robot_state": 1485
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0003",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1485,
|
| 17 |
+
"right": 1485
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"round_number": 3,
|
| 21 |
+
"run_id": "20260920_192234_199338_round_0003",
|
| 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": 1485,
|
| 30 |
+
"right": 1485
|
| 31 |
+
},
|
| 32 |
+
"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1789903430.8269713
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0003/workflow_manifest.json
ADDED
|
@@ -0,0 +1,614 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": 351,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 84,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 21,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 21,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 11,
|
| 32 |
+
"cleanup_errors": [],
|
| 33 |
+
"command_velocity_limits": [
|
| 34 |
+
7.326937734087213,
|
| 35 |
+
7.492612143357643,
|
| 36 |
+
9.039960411055707,
|
| 37 |
+
10.989442599937178,
|
| 38 |
+
11.822247140410347,
|
| 39 |
+
21.729793477053846,
|
| 40 |
+
4.549583926449072,
|
| 41 |
+
9.542591565847905,
|
| 42 |
+
16.49783855493206,
|
| 43 |
+
19.18122166486826,
|
| 44 |
+
20.271305218109156,
|
| 45 |
+
13.274309575261345,
|
| 46 |
+
14.009155302643812,
|
| 47 |
+
4.764187300355128
|
| 48 |
+
],
|
| 49 |
+
"config": {
|
| 50 |
+
"async_inference": {
|
| 51 |
+
"blend_steps": 5,
|
| 52 |
+
"enabled": true,
|
| 53 |
+
"prefetch_steps": 12
|
| 54 |
+
},
|
| 55 |
+
"data": {
|
| 56 |
+
"bridge": {
|
| 57 |
+
"enabled": true,
|
| 58 |
+
"name": "openpi_observe_20260920_192234_199338",
|
| 59 |
+
"qos_depth": 10,
|
| 60 |
+
"sensor_qos": "reliable",
|
| 61 |
+
"stamp_source": "header",
|
| 62 |
+
"wait_all_streams": true
|
| 63 |
+
},
|
| 64 |
+
"history": 64,
|
| 65 |
+
"mode": "owned",
|
| 66 |
+
"name": "openpi_data",
|
| 67 |
+
"numpy": {
|
| 68 |
+
"enabled": true
|
| 69 |
+
},
|
| 70 |
+
"recording": {
|
| 71 |
+
"camera_encoder": "libx264",
|
| 72 |
+
"default_event_value": null,
|
| 73 |
+
"enable_plots": false,
|
| 74 |
+
"enabled": true,
|
| 75 |
+
"fps": 30.0,
|
| 76 |
+
"output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data",
|
| 77 |
+
"queue_size": 4096
|
| 78 |
+
},
|
| 79 |
+
"streams": {
|
| 80 |
+
"base_0_color": {
|
| 81 |
+
"domain": "sensor",
|
| 82 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 83 |
+
"ros_domain_id": 22,
|
| 84 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 85 |
+
},
|
| 86 |
+
"left_wrist_0_color": {
|
| 87 |
+
"domain": "sensor",
|
| 88 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 89 |
+
"ros_domain_id": 22,
|
| 90 |
+
"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 91 |
+
},
|
| 92 |
+
"right_wrist_0_color": {
|
| 93 |
+
"domain": "sensor",
|
| 94 |
+
"msg_type": "sensor_msgs.msg.Image",
|
| 95 |
+
"ros_domain_id": 22,
|
| 96 |
+
"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
|
| 97 |
+
},
|
| 98 |
+
"robot_state": {
|
| 99 |
+
"domain": "robot",
|
| 100 |
+
"msg_type": "sensor_msgs.msg.JointState",
|
| 101 |
+
"ros_domain_id": 21,
|
| 102 |
+
"topic": "/prometheus/robots/yam/state"
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"execute": true,
|
| 107 |
+
"execution": {
|
| 108 |
+
"command_ack_timeout_s": 0.1,
|
| 109 |
+
"hold_settle_s": 0.2,
|
| 110 |
+
"hold_settle_timeout_s": 5.0,
|
| 111 |
+
"max_prediction_age_s": 0.5,
|
| 112 |
+
"max_schedule_lateness_s": 0.105
|
| 113 |
+
},
|
| 114 |
+
"hardware": {
|
| 115 |
+
"mode": "owned",
|
| 116 |
+
"name": "openpi_hardware",
|
| 117 |
+
"sensors": "auto",
|
| 118 |
+
"streams": "auto"
|
| 119 |
+
},
|
| 120 |
+
"policy": {
|
| 121 |
+
"action_hz": 30.0,
|
| 122 |
+
"connect_timeout_s": 10.0,
|
| 123 |
+
"host": "127.0.0.1",
|
| 124 |
+
"max_observation_age_s": 0.5,
|
| 125 |
+
"observation_wait_timeout_s": 1.0,
|
| 126 |
+
"port": 8000,
|
| 127 |
+
"prompt": "Use the right arm to pick up the pomegranate and place it in the bowl.",
|
| 128 |
+
"response_timeout_s": 120.0,
|
| 129 |
+
"slop_ms": 20.0
|
| 130 |
+
},
|
| 131 |
+
"preview": {
|
| 132 |
+
"enabled": true,
|
| 133 |
+
"fps": 20.0,
|
| 134 |
+
"height": 720,
|
| 135 |
+
"host": "127.0.0.1",
|
| 136 |
+
"mode": "local",
|
| 137 |
+
"port": 7860,
|
| 138 |
+
"refresh_ms": 100,
|
| 139 |
+
"stale_timeout_s": 1.0,
|
| 140 |
+
"ui_mode": "openpi",
|
| 141 |
+
"width": 1280,
|
| 142 |
+
"window": "Pi0.5 - Async execution"
|
| 143 |
+
},
|
| 144 |
+
"robot": {
|
| 145 |
+
"_target_": "prometheus.nodes.robots.yam.resolve_robot",
|
| 146 |
+
"cameras": {
|
| 147 |
+
"camera_info": false,
|
| 148 |
+
"capture_height": 480,
|
| 149 |
+
"capture_hz": 30,
|
| 150 |
+
"capture_width": 640,
|
| 151 |
+
"collect_ir": false,
|
| 152 |
+
"ir": false,
|
| 153 |
+
"prepub_resize": 1.0,
|
| 154 |
+
"publish_hz": 30,
|
| 155 |
+
"qos": "reliable",
|
| 156 |
+
"serial_no": {
|
| 157 |
+
"base_0": "260322272085",
|
| 158 |
+
"left_wrist_0": "260422275825",
|
| 159 |
+
"right_wrist_0": "260322279382"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"collection_input_source": "pedal,tty",
|
| 163 |
+
"collection_pedal": {
|
| 164 |
+
"confirm_presses": 2,
|
| 165 |
+
"confirm_window_s": 1.0,
|
| 166 |
+
"debounce_s": 0.05,
|
| 167 |
+
"devices": [
|
| 168 |
+
"/dev/input/prometheus-pedal",
|
| 169 |
+
"/dev/input/prometheus-pedal-aux"
|
| 170 |
+
],
|
| 171 |
+
"exclusive": true,
|
| 172 |
+
"pedal_map": {
|
| 173 |
+
"2": 0,
|
| 174 |
+
"3": 1,
|
| 175 |
+
"4": 2,
|
| 176 |
+
"5": 3,
|
| 177 |
+
"30": 0,
|
| 178 |
+
"32": 3,
|
| 179 |
+
"46": 2,
|
| 180 |
+
"48": 1
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"control_domain_id": 21,
|
| 184 |
+
"id": "yam",
|
| 185 |
+
"robot": {
|
| 186 |
+
"action_space": "abs_qpos",
|
| 187 |
+
"alignment_duration_s": 3.0,
|
| 188 |
+
"bilateral_kp": 0.0,
|
| 189 |
+
"collection_mode": "policy",
|
| 190 |
+
"control_hz": 120,
|
| 191 |
+
"enable_auto_recovery": false,
|
| 192 |
+
"follower_arm": "yam_ultra",
|
| 193 |
+
"follower_can": {
|
| 194 |
+
"left": "can_follower_l",
|
| 195 |
+
"right": "can_follower_r"
|
| 196 |
+
},
|
| 197 |
+
"follower_gripper": "linear_4310",
|
| 198 |
+
"gripper_width_m": 0.096,
|
| 199 |
+
"home_return": {
|
| 200 |
+
"enabled": false,
|
| 201 |
+
"feedback_timeout_s": 0.5,
|
| 202 |
+
"kp_scale": 1.0,
|
| 203 |
+
"max_velocity": 0.3,
|
| 204 |
+
"min_duration_s": 3.0,
|
| 205 |
+
"position_tolerance": 0.05,
|
| 206 |
+
"settle_s": 0.3,
|
| 207 |
+
"timeout_s": 25.0,
|
| 208 |
+
"tracking_error_limit": 0.35,
|
| 209 |
+
"velocity_tolerance": 0.1
|
| 210 |
+
},
|
| 211 |
+
"leader_arm": "yam",
|
| 212 |
+
"leader_can": null,
|
| 213 |
+
"leader_gripper": "yam_teaching_handle",
|
| 214 |
+
"policy_control": {
|
| 215 |
+
"acceleration_limits": [
|
| 216 |
+
118.7426430016755,
|
| 217 |
+
165.012131490699,
|
| 218 |
+
134.04180689399348,
|
| 219 |
+
274.86399842805685,
|
| 220 |
+
195.25766555964873,
|
| 221 |
+
454.5340796113012,
|
| 222 |
+
109.40927818565227,
|
| 223 |
+
178.49339036295515,
|
| 224 |
+
476.6444930964641,
|
| 225 |
+
557.9080874526715,
|
| 226 |
+
587.1810202100611,
|
| 227 |
+
362.1711802492357,
|
| 228 |
+
208.8803265352197,
|
| 229 |
+
208.9010343469399
|
| 230 |
+
],
|
| 231 |
+
"command_timeout_s": 0.25,
|
| 232 |
+
"command_velocity_limits": [
|
| 233 |
+
7.326937734087213,
|
| 234 |
+
7.492612143357643,
|
| 235 |
+
9.039960411055707,
|
| 236 |
+
10.989442599937178,
|
| 237 |
+
11.822247140410347,
|
| 238 |
+
21.729793477053846,
|
| 239 |
+
4.549583926449072,
|
| 240 |
+
9.542591565847905,
|
| 241 |
+
16.49783855493206,
|
| 242 |
+
19.18122166486826,
|
| 243 |
+
20.271305218109156,
|
| 244 |
+
13.274309575261345,
|
| 245 |
+
14.009155302643812,
|
| 246 |
+
4.764187300355128
|
| 247 |
+
],
|
| 248 |
+
"feedback_timeout_s": 0.2,
|
| 249 |
+
"hz": 30.0,
|
| 250 |
+
"stationary_velocity_limits": [
|
| 251 |
+
0.09619047798216343,
|
| 252 |
+
0.09619047798216343,
|
| 253 |
+
0.09125763334333897,
|
| 254 |
+
0.09619047798216343,
|
| 255 |
+
0.11098901189863682,
|
| 256 |
+
0.18498168900609016,
|
| 257 |
+
0.014679903751239181,
|
| 258 |
+
0.10112332262098789,
|
| 259 |
+
0.11098901189863682,
|
| 260 |
+
0.10112332262098789,
|
| 261 |
+
0.11098901189863682,
|
| 262 |
+
0.14058608725667,
|
| 263 |
+
0.2885714414715767,
|
| 264 |
+
0.014345181323587895
|
| 265 |
+
],
|
| 266 |
+
"stop_file": "/tmp/prometheus_openpi/STOP",
|
| 267 |
+
"tracking_error_limits": [
|
| 268 |
+
0.20073625504970552,
|
| 269 |
+
0.309388148188591,
|
| 270 |
+
0.29782940477132797,
|
| 271 |
+
0.22655070275068284,
|
| 272 |
+
0.5001068050414323,
|
| 273 |
+
0.7771305423974991,
|
| 274 |
+
0.06952205713838339,
|
| 275 |
+
0.268162048868835,
|
| 276 |
+
0.3556229412555695,
|
| 277 |
+
0.4542571985721588,
|
| 278 |
+
0.3109293460845947,
|
| 279 |
+
1.0653276860713958,
|
| 280 |
+
0.45733958966098726,
|
| 281 |
+
0.07211417473852634
|
| 282 |
+
],
|
| 283 |
+
"urdf": "/home/romoya-1/openpi-workspace/i2rt/i2rt/robot_models/arm/yam_ultra/v1/yam_ultra.urdf",
|
| 284 |
+
"velocity_limits": [
|
| 285 |
+
6.503956017494202,
|
| 286 |
+
7.554651925563812,
|
| 287 |
+
9.670842275619506,
|
| 288 |
+
10.588351378440857,
|
| 289 |
+
8.72373610496521,
|
| 290 |
+
13.252087483406067,
|
| 291 |
+
1.2993822544813156,
|
| 292 |
+
8.664541969299316,
|
| 293 |
+
10.73633671760559,
|
| 294 |
+
14.77633719921112,
|
| 295 |
+
17.380879168510436,
|
| 296 |
+
20.799341225624083,
|
| 297 |
+
7.747032866477967,
|
| 298 |
+
1.3316887146234513
|
| 299 |
+
]
|
| 300 |
+
},
|
| 301 |
+
"require_enable_button": false,
|
| 302 |
+
"sim": false,
|
| 303 |
+
"state_publish_hz": 120,
|
| 304 |
+
"teleoperation_enabled": false
|
| 305 |
+
},
|
| 306 |
+
"sensor_domain_id": 22
|
| 307 |
+
},
|
| 308 |
+
"ros": {
|
| 309 |
+
"localhost_only": true
|
| 310 |
+
},
|
| 311 |
+
"run": {
|
| 312 |
+
"action_steps": 30,
|
| 313 |
+
"id": "20260920_192234_199338_round_0003",
|
| 314 |
+
"output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0003",
|
| 315 |
+
"runtime_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/metadata/runtime",
|
| 316 |
+
"steps": 40,
|
| 317 |
+
"wait_ready_timeout_s": 30.0
|
| 318 |
+
}
|
| 319 |
+
},
|
| 320 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0003",
|
| 321 |
+
"observation_not_before_ns": 1789903418593370009,
|
| 322 |
+
"operator_command_file": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0003",
|
| 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": 351,
|
| 549 |
+
"camera.base_0_rgb": 371,
|
| 550 |
+
"camera.left_wrist_0_rgb": 371,
|
| 551 |
+
"camera.right_wrist_0_rgb": 371,
|
| 552 |
+
"dropped": 0,
|
| 553 |
+
"event.workflow": 1,
|
| 554 |
+
"items": 2950,
|
| 555 |
+
"robot.robot_state": 1485
|
| 556 |
+
},
|
| 557 |
+
"recording": false,
|
| 558 |
+
"recording_enabled": true
|
| 559 |
+
},
|
| 560 |
+
"reviewed_at_ns": 1789903430725529567,
|
| 561 |
+
"round_number": 3,
|
| 562 |
+
"shutdown_confirmed": true,
|
| 563 |
+
"stationary_velocity_limits": [
|
| 564 |
+
0.09619047798216343,
|
| 565 |
+
0.09619047798216343,
|
| 566 |
+
0.09125763334333897,
|
| 567 |
+
0.09619047798216343,
|
| 568 |
+
0.11098901189863682,
|
| 569 |
+
0.18498168900609016,
|
| 570 |
+
0.014679903751239181,
|
| 571 |
+
0.10112332262098789,
|
| 572 |
+
0.11098901189863682,
|
| 573 |
+
0.10112332262098789,
|
| 574 |
+
0.11098901189863682,
|
| 575 |
+
0.14058608725667,
|
| 576 |
+
0.2885714414715767,
|
| 577 |
+
0.014345181323587895
|
| 578 |
+
],
|
| 579 |
+
"status": "completed",
|
| 580 |
+
"task_success": false,
|
| 581 |
+
"termination_reason": "operator_review",
|
| 582 |
+
"tracking_error_limits": [
|
| 583 |
+
0.20073625504970552,
|
| 584 |
+
0.309388148188591,
|
| 585 |
+
0.29782940477132797,
|
| 586 |
+
0.22655070275068284,
|
| 587 |
+
0.5001068050414323,
|
| 588 |
+
0.7771305423974991,
|
| 589 |
+
0.06952205713838339,
|
| 590 |
+
0.268162048868835,
|
| 591 |
+
0.3556229412555695,
|
| 592 |
+
0.4542571985721588,
|
| 593 |
+
0.3109293460845947,
|
| 594 |
+
1.0653276860713958,
|
| 595 |
+
0.45733958966098726,
|
| 596 |
+
0.07211417473852634
|
| 597 |
+
],
|
| 598 |
+
"velocity_limits": [
|
| 599 |
+
6.503956017494202,
|
| 600 |
+
7.554651925563812,
|
| 601 |
+
9.670842275619506,
|
| 602 |
+
10.588351378440857,
|
| 603 |
+
8.72373610496521,
|
| 604 |
+
13.252087483406067,
|
| 605 |
+
1.2993822544813156,
|
| 606 |
+
8.664541969299316,
|
| 607 |
+
10.73633671760559,
|
| 608 |
+
14.77633719921112,
|
| 609 |
+
17.380879168510436,
|
| 610 |
+
20.799341225624083,
|
| 611 |
+
7.747032866477967,
|
| 612 |
+
1.3316887146234513
|
| 613 |
+
]
|
| 614 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/action/executed_action_dict.pkl
ADDED
|
Binary file (49.6 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/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": 315,
|
| 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": 317,
|
| 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": 319,
|
| 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/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/camera/timestamp.pkl
ADDED
|
Binary file (7.68 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{"event": "prediction_requested", "time_ns": 1789911150485359026, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
|
| 2 |
+
{"event": "plan_adopted", "time_ns": 1789911150603029241, "actions_sent": 0, "prediction": 0, "queue_remaining": 30, "skipped_prefix": 0, "observation_age_ms": 103.71346399188042, "blended_steps": 0}
|
| 3 |
+
{"event": "prediction_requested", "time_ns": 1789911151220692347, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
|
| 4 |
+
{"event": "plan_adopted", "time_ns": 1789911151325617992, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.90570300421678, "blended_steps": 5}
|
| 5 |
+
{"event": "prediction_requested", "time_ns": 1789911151799743144, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
+
{"event": "plan_adopted", "time_ns": 1789911151875740149, "actions_sent": 37, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 109.95439498219639, "blended_steps": 5}
|
| 7 |
+
{"event": "prediction_requested", "time_ns": 1789911152357480036, "actions_sent": 51, "prediction": 3, "queue_remaining": 12}
|
| 8 |
+
{"event": "plan_adopted", "time_ns": 1789911152464152044, "actions_sent": 54, "prediction": 3, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.93503898219205, "blended_steps": 5}
|
| 9 |
+
{"event": "prediction_requested", "time_ns": 1789911152933881146, "actions_sent": 68, "prediction": 4, "queue_remaining": 12}
|
| 10 |
+
{"event": "plan_adopted", "time_ns": 1789911153035495830, "actions_sent": 71, "prediction": 4, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 140.84074401762336, "blended_steps": 5}
|
| 11 |
+
{"event": "prediction_requested", "time_ns": 1789911153476884215, "actions_sent": 84, "prediction": 5, "queue_remaining": 12}
|
| 12 |
+
{"event": "plan_adopted", "time_ns": 1789911153580748568, "actions_sent": 87, "prediction": 5, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.24745499668643, "blended_steps": 5}
|
| 13 |
+
{"event": "prediction_requested", "time_ns": 1789911154058751820, "actions_sent": 101, "prediction": 6, "queue_remaining": 12}
|
| 14 |
+
{"event": "plan_adopted", "time_ns": 1789911154162519423, "actions_sent": 104, "prediction": 6, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.1506420285441, "blended_steps": 5}
|
| 15 |
+
{"event": "prediction_requested", "time_ns": 1789911154604002733, "actions_sent": 117, "prediction": 7, "queue_remaining": 12}
|
| 16 |
+
{"event": "plan_adopted", "time_ns": 1789911154678240442, "actions_sent": 119, "prediction": 7, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 113.61981500522234, "blended_steps": 5}
|
| 17 |
+
{"event": "prediction_requested", "time_ns": 1789911155162243953, "actions_sent": 133, "prediction": 8, "queue_remaining": 12}
|
| 18 |
+
{"event": "plan_adopted", "time_ns": 1789911155236981177, "actions_sent": 135, "prediction": 8, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 105.45778402592987, "blended_steps": 5}
|
| 19 |
+
{"event": "prediction_requested", "time_ns": 1789911155719352554, "actions_sent": 149, "prediction": 9, "queue_remaining": 12}
|
| 20 |
+
{"event": "plan_adopted", "time_ns": 1789911155826585082, "actions_sent": 152, "prediction": 9, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.09422901389189, "blended_steps": 5}
|
| 21 |
+
{"event": "prediction_requested", "time_ns": 1789911156298021012, "actions_sent": 166, "prediction": 10, "queue_remaining": 12}
|
| 22 |
+
{"event": "plan_adopted", "time_ns": 1789911156401169663, "actions_sent": 169, "prediction": 10, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 105.22911202860996, "blended_steps": 5}
|
| 23 |
+
{"event": "prediction_requested", "time_ns": 1789911156875674409, "actions_sent": 183, "prediction": 11, "queue_remaining": 12}
|
| 24 |
+
{"event": "plan_adopted", "time_ns": 1789911156979358016, "actions_sent": 186, "prediction": 11, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 114.9097699963022, "blended_steps": 5}
|
| 25 |
+
{"event": "prediction_requested", "time_ns": 1789911157458955760, "actions_sent": 200, "prediction": 12, "queue_remaining": 12}
|
| 26 |
+
{"event": "plan_adopted", "time_ns": 1789911157563042409, "actions_sent": 203, "prediction": 12, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 131.59950202680193, "blended_steps": 5}
|
| 27 |
+
{"event": "prediction_requested", "time_ns": 1789911158036360508, "actions_sent": 217, "prediction": 13, "queue_remaining": 12}
|
| 28 |
+
{"event": "plan_adopted", "time_ns": 1789911158139839536, "actions_sent": 220, "prediction": 13, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 142.38744098111056, "blended_steps": 5}
|
| 29 |
+
{"event": "prediction_requested", "time_ns": 1789911158585907315, "actions_sent": 233, "prediction": 14, "queue_remaining": 12}
|
| 30 |
+
{"event": "plan_adopted", "time_ns": 1789911158688676401, "actions_sent": 236, "prediction": 14, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 125.01349500962533, "blended_steps": 5}
|
| 31 |
+
{"event": "prediction_requested", "time_ns": 1789911159162349500, "actions_sent": 250, "prediction": 15, "queue_remaining": 12}
|
| 32 |
+
{"event": "plan_adopted", "time_ns": 1789911159269651005, "actions_sent": 253, "prediction": 15, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 137.0364179892931, "blended_steps": 5}
|
| 33 |
+
{"event": "prediction_requested", "time_ns": 1789911159713109534, "actions_sent": 266, "prediction": 16, "queue_remaining": 12}
|
| 34 |
+
{"event": "plan_adopted", "time_ns": 1789911159819094296, "actions_sent": 269, "prediction": 16, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 118.18078701617196, "blended_steps": 5}
|
| 35 |
+
{"event": "prediction_requested", "time_ns": 1789911160300022710, "actions_sent": 283, "prediction": 17, "queue_remaining": 12}
|
| 36 |
+
{"event": "plan_adopted", "time_ns": 1789911160405359784, "actions_sent": 286, "prediction": 17, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 107.28833498433232, "blended_steps": 5}
|
| 37 |
+
{"event": "operator_stopped", "time_ns": 1789911160759503788, "actions_sent": 297, "result": "success"}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 297,
|
| 5 |
+
"camera.base_0_rgb": 315,
|
| 6 |
+
"camera.left_wrist_0_rgb": 317,
|
| 7 |
+
"camera.right_wrist_0_rgb": 319,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2624,
|
| 11 |
+
"robot.robot_state": 1375
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0004",
|
| 14 |
+
"executed_actions": 297,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 4,
|
| 19 |
+
"run_id": "20260920_213223_222414_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": 1789911160.8610892
|
| 28 |
+
}
|
| 29 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/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": 315
|
| 5 |
+
},
|
| 6 |
+
"camera_timestamp_samples": 315,
|
| 7 |
+
"complete_sensor_bundles": 315,
|
| 8 |
+
"counts": {
|
| 9 |
+
"action.executed": 297,
|
| 10 |
+
"camera.base_0_rgb": 315,
|
| 11 |
+
"camera.left_wrist_0_rgb": 317,
|
| 12 |
+
"camera.right_wrist_0_rgb": 319,
|
| 13 |
+
"dropped": 0,
|
| 14 |
+
"event.workflow": 1,
|
| 15 |
+
"items": 2624,
|
| 16 |
+
"robot.robot_state": 1375
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "20260920_213223_222414_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": 1789911160.8610892
|
| 35 |
+
},
|
| 36 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 37 |
+
"camera_frames": {
|
| 38 |
+
"left_wrist_0_rgb": 317
|
| 39 |
+
},
|
| 40 |
+
"camera_timestamp_samples": 317,
|
| 41 |
+
"complete_sensor_bundles": 317,
|
| 42 |
+
"counts": {
|
| 43 |
+
"action.executed": 297,
|
| 44 |
+
"camera.base_0_rgb": 315,
|
| 45 |
+
"camera.left_wrist_0_rgb": 317,
|
| 46 |
+
"camera.right_wrist_0_rgb": 319,
|
| 47 |
+
"dropped": 0,
|
| 48 |
+
"event.workflow": 1,
|
| 49 |
+
"items": 2624,
|
| 50 |
+
"robot.robot_state": 1375
|
| 51 |
+
},
|
| 52 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 53 |
+
"duplicate_sensor_messages": 0,
|
| 54 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "20260920_213223_222414_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": 1789911160.8610892
|
| 69 |
+
},
|
| 70 |
+
"prometheus_camera_right_wrist_0_recorder": {
|
| 71 |
+
"camera_frames": {
|
| 72 |
+
"right_wrist_0_rgb": 319
|
| 73 |
+
},
|
| 74 |
+
"camera_timestamp_samples": 319,
|
| 75 |
+
"complete_sensor_bundles": 319,
|
| 76 |
+
"counts": {
|
| 77 |
+
"action.executed": 297,
|
| 78 |
+
"camera.base_0_rgb": 315,
|
| 79 |
+
"camera.left_wrist_0_rgb": 317,
|
| 80 |
+
"camera.right_wrist_0_rgb": 319,
|
| 81 |
+
"dropped": 0,
|
| 82 |
+
"event.workflow": 1,
|
| 83 |
+
"items": 2624,
|
| 84 |
+
"robot.robot_state": 1375
|
| 85 |
+
},
|
| 86 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 87 |
+
"duplicate_sensor_messages": 0,
|
| 88 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "20260920_213223_222414_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": 1789911160.8610892
|
| 103 |
+
}
|
| 104 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 297,
|
| 5 |
+
"camera.base_0_rgb": 315,
|
| 6 |
+
"camera.left_wrist_0_rgb": 317,
|
| 7 |
+
"camera.right_wrist_0_rgb": 319,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2624,
|
| 11 |
+
"robot.robot_state": 1375
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "20260920_213223_222414_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": 1789911160.8610892
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 297,
|
| 5 |
+
"camera.base_0_rgb": 315,
|
| 6 |
+
"camera.left_wrist_0_rgb": 317,
|
| 7 |
+
"camera.right_wrist_0_rgb": 319,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2624,
|
| 11 |
+
"robot.robot_state": 1375
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0004",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1375,
|
| 17 |
+
"right": 1375
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 4,
|
| 22 |
+
"run_id": "20260920_213223_222414_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": 1375,
|
| 31 |
+
"right": 1375
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1789911160.8610892
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0004/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/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": 297,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 72,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 18,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 18,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 9,
|
| 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_20260920_213223_222414",
|
| 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/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": "Use the right arm to pick up the pomegranate and place it in the bowl.",
|
| 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": "20260920_213223_222414_round_0004",
|
| 313 |
+
"output_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0004",
|
| 314 |
+
"runtime_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/metadata/runtime",
|
| 315 |
+
"steps": 40,
|
| 316 |
+
"wait_ready_timeout_s": 30.0
|
| 317 |
+
}
|
| 318 |
+
},
|
| 319 |
+
"episode_dir": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/data/round_0004",
|
| 320 |
+
"next_round_confirmed": true,
|
| 321 |
+
"operator_command_file": "outputs/openpi_rollout/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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/pi0_v2_v3_20eps_20000/pick_and_place_pomegranate/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": 297,
|
| 548 |
+
"camera.base_0_rgb": 315,
|
| 549 |
+
"camera.left_wrist_0_rgb": 317,
|
| 550 |
+
"camera.right_wrist_0_rgb": 319,
|
| 551 |
+
"dropped": 0,
|
| 552 |
+
"event.workflow": 1,
|
| 553 |
+
"items": 2624,
|
| 554 |
+
"robot.robot_state": 1375
|
| 555 |
+
},
|
| 556 |
+
"recording": false,
|
| 557 |
+
"recording_enabled": true
|
| 558 |
+
},
|
| 559 |
+
"reviewed_at_ns": 1789911160759141297,
|
| 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": 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/V3/pi0_20eps_20000/pick_and_place_pomegranate/data/round_0005/action/executed_action_dict.pkl
ADDED
|
Binary file (53.2 kB). View file
|
|
|
eval/YAM/V3/pi0_20eps_20000/pick_and_place_pomegranate/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": 337,
|
| 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": 337,
|
| 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": 338,
|
| 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 |
+
}
|