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"cube_reset_id": 8, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 8, "family_name": "low_loop", "reason": "no_feasible_plan" } ], "success_criteria": { "episode_success": "lift success AND place success, both evaluated at full sim resolution", "lift": { "description": "cube must rise at least this fraction of lift_height above its spawn z, at any point during the episode (checked against the full, un-downsampled simulated trajectory)", "lift_height": 0.12, "success_lift_fraction": 0.5 }, "place": { "description": "final cube xy must land within this distance of the goal marker xy", "place_xy_success_tolerance": 0.03 } }, "summary": { "arrays": { "action": { "dtype": "float32", "shape": [ 34170, 8 ] }, "cube_pose": { "dtype": "float32", "shape": [ 34170, 7 ] }, "eef_pos": { "dtype": "float32", "shape": [ 34170, 3 ] }, "goal_pos": { "dtype": "float32", "shape": [ 34170, 3 ] }, "goal_relative": { "dtype": "float32", "shape": [ 34170, 3 ] }, "phase_id": { 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"vertical_scale": -0.52 } ], "type": "bounded_waypoint_trajectory_families", "variants_per_reset": 10, "vertical_lateral_offset": 0.1, "xy_noise": 0.03, "z_noise": 0.02 }, "versions": { "mani_skill": "3.0.1", "sapien": "3.0.3" } }, "num_episodes": 131, "num_steps": 54835, "path": "/home/yaswanth/Desktop/PG3D/artifacts/pg3d_cube_2.zarr" }, { "metadata": { "action_space": { "action_dim": 8, "action_mode": "abs_joint", "control_mode": "pd_joint_pos", "layout": "7 arm joint qpos targets + 1 gripper command (pd_joint_pos control)" }, "camera": { "obs_mode": "pointcloud", "source": "ManiSkill default sensor config for PG3DReach-XArm7Cube-v2" }, "crop": { "bounds": [ [ -0.5722101330757141, 0.09527299553155899 ], [ -0.45883187651634216, 0.3655799329280853 ], [ 0.0, 0.5260418653488159 ] ], "capture_enabled": true, "num_points": 1536, "object_capture_radius": 0.08, "object_point_fraction": 0.06, "robot_point_fraction": 0.25 }, "cube_goal_sampling": { "goal_xy": { "x": { "max": 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"upper_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 46, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 46, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 46, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 47, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 47, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 48, "family_name": "lower_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 48, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 48, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 48, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 48, "family_name": "lower_arc", "reason": "no_feasible_plan" }, { "cube_reset_id": 48, "family_name": "right_wide", "reason": "no_feasible_plan" } ], "success_criteria": { 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28284, 28734, 29098, 29455, 29845, 30241, 30729, 31159, 31573, 31931, 32292, 32675, 33089, 33494, 33863, 34229, 34544, 34846, 35177, 35607, 36083, 36519, 36942, 37329, 37683, 38037, 38391, 38810, 39216, 39630, 40018, 40394, 40720, 41061, 41401, 41738, 42167, 42640, 43086, 43555, 44023, 44377, 44727, 45072, 45462, 45883, 46320, 46699, 47052, 47388, 47735, 48224, 48740, 49218, 49607, 49999, 50412, 50830, 51345, 51845, 52339, 52832, 53287, 53684, 54086, 54461, 54916, 55378, 55777, 56158, 56674, 57147, 57647, 58104, 58509, 58917, 59275, 59618, 59999, 60360 ], "num_episodes": 145, "num_steps": 60360, "success_rate": 0.6224983432736911 }, "task": { "env_id": "PG3DReach-XArm7Cube-v2", "phase_description": { "approach": "bounded-waypoint move from the start/home TCP pose to a standoff above the cube", "close": "hold the grasp pose while the gripper closes (close_hold_steps rows)", "descend": "straight vertical move from the standoff down to the cube (grasp pose)", "home": "bounded-waypoint move retracing the outbound path back to the start TCP pose", "lift": "straight vertical move up by lift_height with the cube grasped", "open": "hold the place pose while the gripper opens (open_hold_steps rows)", "place_descend": "straight vertical move down from the goal standoff to the table at the goal", "retreat": "straight vertical move up by lift_height, cube now released", "transport": "bounded-waypoint move from the lift pose to a standoff above the goal marker" }, "phase_names": [ "approach", "descend", "close", "lift", "transport", "place_descend", "open", "retreat", "home" ], "task_type": "cube_pick_place_on_goal" }, "trajectory_generation": { "approach_standoff": 0.03, "close_hold_steps": 15, "lateral_z_offset": 0.1, "lift_height": 0.12, "max_waypoint_attempts": 12, "note": "Reuses write_maniskill_reach_dataset's own bounded, workspace-validated waypoint sampler (_sample_waypoint_set); see module docstring for how this differs from the old spline_pick_waypoints approach.", "open_hold_steps": 10, "planner": "XArm7GripperMotionPlanningSolver", "show_planner_output": false, "trajectory_families": [ { "lateral_scale": -0.9, "min_curve_offset_multiplier": 1.1, "ratios": [ 0.34, 0.68 ], "trajectory_family_id": 0, "trajectory_family_name": "left_wide", "vertical_scale": 0.0 }, { "lateral_scale": 0.9, "min_curve_offset_multiplier": 1.1, "ratios": [ 0.34, 0.68 ], "trajectory_family_id": 1, "trajectory_family_name": "right_wide", "vertical_scale": 0.0 }, { "lateral_scale": -0.68, "min_curve_offset_multiplier": 1.15, "ratios": [ 0.3, 0.62 ], "trajectory_family_id": 2, "trajectory_family_name": "upper_left", "vertical_scale": 0.9 }, { "lateral_scale": 0.68, "min_curve_offset_multiplier": 1.15, "ratios": [ 0.3, 0.62 ], "trajectory_family_id": 3, "trajectory_family_name": "upper_right", "vertical_scale": 0.9 }, { "lateral_scale": -0.36, "min_curve_offset_multiplier": 1.05, "ratios": [ 0.35, 0.7 ], "trajectory_family_id": 4, "trajectory_family_name": "lower_left", "vertical_scale": -0.34 }, { "lateral_scale": 0.36, "min_curve_offset_multiplier": 1.05, "ratios": [ 0.35, 0.7 ], "trajectory_family_id": 5, "trajectory_family_name": "lower_right", "vertical_scale": -0.34 }, { "lateral_scale": 0.0, "min_curve_offset_multiplier": 0.9, "ratios": [ 0.5 ], "trajectory_family_id": 6, "trajectory_family_name": "upper_arc", "vertical_scale": 1.15 }, { "lateral_scale": 0.0, "min_curve_offset_multiplier": 0.8, "ratios": [ 0.5 ], "trajectory_family_id": 7, "trajectory_family_name": "lower_arc", "vertical_scale": -0.48 }, { "lateral_scale": -0.3, "min_curve_offset_multiplier": 0.95, "ratios": [ 0.5 ], "trajectory_family_id": 8, "trajectory_family_name": "high_loop", "vertical_scale": 0.95 }, { "lateral_scale": 0.48, "min_curve_offset_multiplier": 1.0, "ratios": [ 0.5 ], "trajectory_family_id": 9, "trajectory_family_name": "low_loop", "vertical_scale": -0.52 } ], "type": "bounded_waypoint_trajectory_families", "variants_per_reset": 10, "vertical_lateral_offset": 0.1, "xy_noise": 0.03, "z_noise": 0.02 }, "versions": { "mani_skill": "3.0.1", "sapien": "3.0.3" } }, "num_episodes": 145, "num_steps": 60360, "path": "/home/yaswanth/Desktop/PG3D/artifacts/pg3d_cube_3.zarr" }, { "metadata": { "action_space": { "action_dim": 8, "action_mode": "abs_joint", "control_mode": "pd_joint_pos", "layout": "7 arm joint qpos targets + 1 gripper command (pd_joint_pos control)" }, "camera": { "obs_mode": "pointcloud", "source": "ManiSkill default sensor config for PG3DReach-XArm7Cube-v2" }, "crop": { "bounds": [ [ -0.5811869502067566, 0.11219948530197144 ], [ -0.45872271060943604, 0.4212566316127777 ], [ 0.0, 0.5296871066093445 ] ], "capture_enabled": true, "num_points": 1536, "object_capture_radius": 0.08, "object_point_fraction": 0.06, "robot_point_fraction": 0.25 }, "cube_goal_sampling": { "goal_xy": { "x": { "max": -0.16406328976154327, "mean": -0.25347596406936646, "min": -0.3440965414047241 }, "y": { "max": 0.3696895241737366, "mean": -0.05182217061519623, "min": -0.37376004457473755 } }, "min_base_clearance": 0.06, "note": "Cube and goal_marker positions are sampled by the env (PG3DReachXArm7CubeV2Env._initialize_episode) on a wide radius/angle band of the table, not by this script. Waypoint validity is checked per-episode against a box built from the actual cube/tcp/goal positions plus pick_workspace_margin, not a fixed reach-task workspace box.", "pick_workspace_margin": 0.25, "place_xy_success_tolerance": 0.03, "table_margin": 0.0 }, "dataset_stats": { "action_norm": { "max": 4.458930492401123, "mean": 1.52385675907135, "min": 0.2976824939250946 }, "episode_length": { "max": 534.0, "mean": 404.5402298850575, "min": 307.0 }, "max_lift_delta": { "max": 0.32429614663124084, "mean": 0.17630641162395477, "min": 0.1131361722946167 }, "num_episodes": 174, "num_steps": 70390, "place_distance": { "max": 0.024317845702171326, "mean": 0.008972407318651676, "min": 0.0017107335152104497 }, "robot_mask_points": { "max": 711.0, "mean": 337.491943359375, "min": 57.0 }, "success_rate": 1.0, "success_rate_by_family": { "high_loop": 1.0, "left_wide": 1.0, "low_loop": 1.0, "lower_arc": 1.0, "lower_left": 1.0, "lower_right": 1.0, "right_wide": 1.0, "upper_arc": 1.0, "upper_left": 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goal_marker", "cube_marker_points": 96, "cube_marker_radius": 0.035, "goal_marker_points": 192, "goal_marker_radius": 0.055, "note": "Markers are materialized by the DP3 dataset loader/inference adapter in ordered trailing slots; raw cube geometry remains in the scene branch." }, "reset_end": null, "reset_start": 70, "robot_uid": "my_xarm7", "schema_version": "pg3d.pick.zarr.v1", "seed": 0, "skipped": [ { "cube_reset_id": 72, "family_name": "lower_arc", "reason": "no_feasible_plan" }, { "cube_reset_id": 73, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 73, "family_name": "lower_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 73, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 73, "family_name": "upper_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 74, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 74, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 75, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 76, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 77, "family_name": "lower_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 77, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 77, "family_name": "high_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 77, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 77, "family_name": "upper_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 78, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 78, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 78, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 79, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 80, "family_name": "high_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 81, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 81, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 82, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 82, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 82, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 83, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 83, "family_name": "upper_arc", "reason": "no_feasible_plan" }, { "cube_reset_id": 83, "family_name": "upper_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 84, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 85, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 85, "family_name": "upper_arc", "reason": "no_feasible_plan" }, { "cube_reset_id": 85, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 85, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 87, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 87, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 87, "family_name": "lower_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 87, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 87, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 88, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 88, "family_name": "upper_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 89, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 89, "family_name": "lower_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 89, "family_name": "right_wide", "reason": "no_feasible_plan" } ], "success_criteria": { "episode_success": "lift success AND place success, both evaluated at full sim resolution", "lift": { "description": "cube must rise at least this fraction of lift_height above its spawn z, at any point during the episode (checked against the full, un-downsampled simulated trajectory)", "lift_height": 0.12, "success_lift_fraction": 0.5 }, "place": { "description": "final cube xy must land within this distance of the goal marker xy", "place_xy_success_tolerance": 0.03 } }, "summary": { "arrays": { "action": { "dtype": "float32", "shape": [ 65985, 8 ] }, "cube_pose": { "dtype": "float32", "shape": [ 65985, 7 ] }, "eef_pos": { "dtype": "float32", "shape": [ 65985, 3 ] }, "goal_pos": { "dtype": "float32", "shape": [ 65985, 3 ] }, "goal_relative": { "dtype": "float32", "shape": [ 65985, 3 ] }, "phase_id": { "dtype": "int64", "shape": [ 65985 ] }, "point_cloud": { "dtype": "float32", "shape": [ 65985, 1536, 3 ] }, "point_valid_mask": { "dtype": "bool", "shape": [ 65985, 1536 ] }, "qpos": { "dtype": "float32", "shape": [ 65985, 13 ] }, "robot_mask": { "dtype": "bool", "shape": [ 65985, 1536 ] }, "sim_action": { "dtype": "float32", "shape": [ 65985, 8 ] }, "state": { "dtype": "float32", "shape": [ 65985, 20 ] }, "success": { "dtype": "bool", "shape": [ 65985 ] }, "target_position": { "dtype": "float32", "shape": [ 65985, 3 ] }, "tcp_pose": { "dtype": "float32", "shape": [ 65985, 7 ] }, "trajectory_family_id": { "dtype": "int64", "shape": [ 65985, 1 ] }, "trajectory_family_onehot": { "dtype": "float32", "shape": [ 65985, 10 ] } }, "episode_ends": [ 598, 984, 1435, 1817, 2240, 2600, 2932, 3257, 3626, 3941, 4393, 4902, 5341, 5840, 6242, 6649, 7001, 7366, 7735, 8099, 8535, 8954, 9400, 9841, 10242, 10617, 10964, 11311, 11655, 12081, 12472, 12834, 13178, 13534, 13903, 14338, 14795, 15284, 15780, 16150, 16550, 16902, 17378, 17852, 18285, 18745, 19140, 19532, 19867, 20218, 20553, 20950, 21447, 21841, 22369, 22798, 23193, 23541, 23879, 24257, 24604, 25128, 25614, 26076, 26463, 26834, 27322, 27826, 28296, 28716, 29145, 29550, 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(grasp pose)", "home": "bounded-waypoint move retracing the outbound path back to the start TCP pose", "lift": "straight vertical move up by lift_height with the cube grasped", "open": "hold the place pose while the gripper opens (open_hold_steps rows)", "place_descend": "straight vertical move down from the goal standoff to the table at the goal", "retreat": "straight vertical move up by lift_height, cube now released", "transport": "bounded-waypoint move from the lift pose to a standoff above the goal marker" }, "phase_names": [ "approach", "descend", "close", "lift", "transport", "place_descend", "open", "retreat", "home" ], "task_type": "cube_pick_place_on_goal" }, "trajectory_generation": { "approach_standoff": 0.03, "close_hold_steps": 15, "lateral_z_offset": 0.1, "lift_height": 0.12, "max_waypoint_attempts": 12, "note": "Reuses write_maniskill_reach_dataset's own bounded, workspace-validated waypoint sampler (_sample_waypoint_set); see module docstring for how this differs from the old spline_pick_waypoints approach.", "open_hold_steps": 10, "planner": "XArm7GripperMotionPlanningSolver", "show_planner_output": false, "trajectory_families": [ { "lateral_scale": -0.9, "min_curve_offset_multiplier": 1.1, "ratios": [ 0.34, 0.68 ], "trajectory_family_id": 0, "trajectory_family_name": "left_wide", "vertical_scale": 0.0 }, { "lateral_scale": 0.9, "min_curve_offset_multiplier": 1.1, "ratios": [ 0.34, 0.68 ], "trajectory_family_id": 1, "trajectory_family_name": "right_wide", "vertical_scale": 0.0 }, { "lateral_scale": -0.68, "min_curve_offset_multiplier": 1.15, "ratios": [ 0.3, 0.62 ], "trajectory_family_id": 2, "trajectory_family_name": "upper_left", "vertical_scale": 0.9 }, { "lateral_scale": 0.68, "min_curve_offset_multiplier": 1.15, "ratios": [ 0.3, 0.62 ], "trajectory_family_id": 3, "trajectory_family_name": "upper_right", "vertical_scale": 0.9 }, { "lateral_scale": -0.36, "min_curve_offset_multiplier": 1.05, "ratios": [ 0.35, 0.7 ], "trajectory_family_id": 4, "trajectory_family_name": "lower_left", "vertical_scale": -0.34 }, { "lateral_scale": 0.36, "min_curve_offset_multiplier": 1.05, "ratios": [ 0.35, 0.7 ], "trajectory_family_id": 5, "trajectory_family_name": "lower_right", "vertical_scale": -0.34 }, { "lateral_scale": 0.0, "min_curve_offset_multiplier": 0.9, "ratios": [ 0.5 ], "trajectory_family_id": 6, "trajectory_family_name": "upper_arc", "vertical_scale": 1.15 }, { "lateral_scale": 0.0, "min_curve_offset_multiplier": 0.8, "ratios": [ 0.5 ], "trajectory_family_id": 7, "trajectory_family_name": "lower_arc", "vertical_scale": -0.48 }, { "lateral_scale": -0.3, "min_curve_offset_multiplier": 0.95, "ratios": [ 0.5 ], "trajectory_family_id": 8, "trajectory_family_name": "high_loop", "vertical_scale": 0.95 }, { "lateral_scale": 0.48, "min_curve_offset_multiplier": 1.0, "ratios": [ 0.5 ], "trajectory_family_id": 9, "trajectory_family_name": "low_loop", "vertical_scale": -0.52 } ], "type": "bounded_waypoint_trajectory_families", 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geometry remains in the scene branch." }, "reset_end": null, "reset_start": 80, "robot_uid": "my_xarm7", "schema_version": "pg3d.pick.zarr.v1", "seed": 0, "skipped": [ { "cube_reset_id": 81, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 81, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 81, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 82, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 82, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 82, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 82, "family_name": "upper_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 82, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 83, "family_name": "upper_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 84, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 84, "family_name": "lower_arc", "reason": "no_feasible_plan" }, { "cube_reset_id": 85, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 85, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 85, "family_name": "lower_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 86, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 87, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 87, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 87, "family_name": "upper_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 87, "family_name": "lower_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 88, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 88, "family_name": "upper_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 88, "family_name": "lower_arc", "reason": "no_feasible_plan" }, { "cube_reset_id": 89, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 89, "family_name": "lower_arc", "reason": "no_feasible_plan" }, { "cube_reset_id": 89, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 89, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 89, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 90, "family_name": "upper_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 91, "family_name": "lower_left", "reason": "no_feasible_plan" }, { "cube_reset_id": 91, "family_name": "high_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 92, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 92, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 92, "family_name": "lower_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 92, "family_name": "left_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 93, "family_name": "lower_right", "reason": "no_feasible_plan" }, { "cube_reset_id": 94, "family_name": "upper_arc", "reason": "no_feasible_plan" }, { "cube_reset_id": 95, "family_name": "upper_arc", "reason": "no_feasible_plan" }, { "cube_reset_id": 97, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 98, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 99, "family_name": "right_wide", "reason": "no_feasible_plan" }, { "cube_reset_id": 99, "family_name": "low_loop", "reason": "no_feasible_plan" }, { "cube_reset_id": 99, "family_name": "left_wide", "reason": "no_feasible_plan" } ], "success_criteria": { "episode_success": "lift success AND place success, both evaluated at full sim resolution", "lift": { "description": "cube must rise at least this fraction of lift_height above its spawn z, at any point during the episode (checked against the full, un-downsampled simulated 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}, "target_position": { "dtype": "float32", "shape": [ 65758, 3 ] }, "tcp_pose": { "dtype": "float32", "shape": [ 65758, 7 ] }, "trajectory_family_id": { "dtype": "int64", "shape": [ 65758, 1 ] }, "trajectory_family_onehot": { "dtype": "float32", "shape": [ 65758, 10 ] } }, "episode_ends": [ 444, 921, 1389, 1849, 2254, 2672, 3057, 3418, 3813, 4182, 4625, 5141, 5548, 5919, 6263, 6629, 7007, 7506, 7947, 8332, 8714, 9156, 9578, 9983, 10425, 10902, 11299, 11690, 12085, 12495, 12859, 13289, 13863, 14302, 14785, 15228, 15599, 15960, 16376, 16899, 17357, 17834, 18325, 18755, 19171, 19598, 20022, 20453, 20940, 21339, 21779, 22151, 22512, 22887, 23291, 23753, 24187, 24614, 24962, 25317, 25671, 26135, 26642, 27069, 27459, 27800, 28179, 28520, 29044, 29508, 29954, 30347, 30769, 31208, 31653, 32111, 32517, 32931, 33286, 33623, 33991, 34367, 34800, 35226, 35644, 36075, 36442, 36787, 37130, 37483, 37947, 38426, 38900, 39318, 39722, 40122, 40570, 41031, 41502, 41922, 42328, 42686, 43026, 43403, 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"vertical_scale": -0.34 }, { "lateral_scale": 0.0, "min_curve_offset_multiplier": 0.9, "ratios": [ 0.5 ], "trajectory_family_id": 6, "trajectory_family_name": "upper_arc", "vertical_scale": 1.15 }, { "lateral_scale": 0.0, "min_curve_offset_multiplier": 0.8, "ratios": [ 0.5 ], "trajectory_family_id": 7, "trajectory_family_name": "lower_arc", "vertical_scale": -0.48 }, { "lateral_scale": -0.3, "min_curve_offset_multiplier": 0.95, "ratios": [ 0.5 ], "trajectory_family_id": 8, "trajectory_family_name": "high_loop", "vertical_scale": 0.95 }, { "lateral_scale": 0.48, "min_curve_offset_multiplier": 1.0, "ratios": [ 0.5 ], "trajectory_family_id": 9, "trajectory_family_name": "low_loop", "vertical_scale": -0.52 } ], "type": "bounded_waypoint_trajectory_families", "variants_per_reset": 10, "vertical_lateral_offset": 0.1, "xy_noise": 0.03, "z_noise": 0.02 }, "versions": { "mani_skill": "3.0.1", "sapien": "3.0.3" } }, "num_episodes": 158, "num_steps": 65758, "path": "/home/yaswanth/Desktop/PG3D/artifacts/pg3d_cube_6.zarr" }, { "metadata": { "action_space": { "action_dim": 8, "action_mode": "abs_joint", "control_mode": "pd_joint_pos", "layout": "7 arm joint qpos targets + 1 gripper command (pd_joint_pos control)" }, "camera": { "obs_mode": "pointcloud", "source": "ManiSkill default sensor config for PG3DReach-XArm7Cube-v2" }, "crop": { "bounds": [ [ -0.5880991816520691, 0.11910092830657959 ], [ -0.5085741281509399, 0.42528271675109863 ], [ 0.0, 0.535163164138794 ] ], "capture_enabled": true, "num_points": 1536, "object_capture_radius": 0.08, "object_point_fraction": 0.06, "robot_point_fraction": 0.25 }, "cube_goal_sampling": { "goal_xy": { "x": { "max": -0.1563252955675125, "mean": -0.23720285296440125, "min": -0.3892325460910797 }, "y": { "max": 0.3752827048301697, "mean": -0.022943926975131035, "min": -0.3790484666824341 } }, "min_base_clearance": 0.06, "note": "Cube and goal_marker positions are sampled by the env (PG3DReachXArm7CubeV2Env._initialize_episode) on a wide radius/angle band of the table, not by this script. Waypoint validity is checked per-episode against a box built from the actual cube/tcp/goal positions plus pick_workspace_margin, not a fixed reach-task workspace box.", "pick_workspace_margin": 0.25, "place_xy_success_tolerance": 0.03, "table_margin": 0.0 }, "dataset_stats": { "action_norm": { "max": 4.917398452758789, "mean": 1.6835445165634155, "min": 0.28815752267837524 }, "episode_length": { "max": 538.0, "mean": 415.50354609929076, "min": 331.0 }, "max_lift_delta": { "max": 0.332087904214859, "mean": 0.18236203491687775, "min": 0.1136355996131897 }, "num_episodes": 141, "num_steps": 58586, "place_distance": { "max": 0.029333943501114845, "mean": 0.00788208656013012, "min": 0.0008224148768931627 }, "robot_mask_points": { "max": 795.0, "mean": 360.6632385253906, "min": 35.0 }, "success_rate": 1.0, "success_rate_by_family": { "high_loop": 1.0, "left_wide": 1.0, "low_loop": 1.0, "lower_arc": 1.0, "lower_left": 1.0, "lower_right": 1.0, "right_wide": 1.0, "upper_arc": 1.0, "upper_left": 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