| { |
| "acting_map": "dn_bus", |
| "acting_maps": [ |
| "dn_bus" |
| ], |
| "fly_picked": true, |
| "lab_picked": false, |
| "da_learned": false, |
| "g_trained": true, |
| "g_hash": "7bca9074a252951b", |
| "g_hash_init": "ea2cdb38f18bd23b", |
| "mean_dn_hz": 1220.5756761705554, |
| "black_dn_hz": 0.0, |
| "dn_l2": 1220.5756761705554, |
| "t1_mn_hz_mean": 688.902805637669, |
| "ticks": 37, |
| "tick_dn_hz_mean": 1220.5756761705554, |
| "controller": "dn_bus", |
| "picked": true, |
| "weights": "checkpoints/rebot-pickup/g-distill.npz", |
| "interrupted": null, |
| "hold_s": 2.798821999982465, |
| "attached": true, |
| "cube_z_mm": 121.52449996299598, |
| "tcp_level": true, |
| "untrained_dn_bus": false, |
| "abort_only": false, |
| "u_n_params": 12, |
| "tick_log_head": [ |
| { |
| "tick": 0, |
| "acting_map": "dn_bus", |
| "dn_hz": 364.0450134277344, |
| "t1_mn_hz": 185.7418212890625, |
| "g_hash": "7bca9074a252951b", |
| "attached": false, |
| "cube_z_mm": 9.000000000000002, |
| "tcp": { |
| "x": 279.85478308389565, |
| "y": -0.00013528535663239144, |
| "z": 5.794606106197725 |
| }, |
| "gripper_mm": 89.99423127647148, |
| "command": { |
| "dx_mm": 0.2987988012626488, |
| "dy_mm": 0.00031238054708252686, |
| "dz_mm": -7.634707672402412, |
| "dgrip_mm": -6.659712378766069 |
| }, |
| "abort": false, |
| "tcp_level": false, |
| "hold_s": 0.0, |
| "tcp_rpy_deg": { |
| "pitch": 89.89110641256686, |
| "roll": -157.40571868334413, |
| "yaw": -157.40572746247815 |
| }, |
| "contact": false, |
| "bus": [ |
| 162.80703735351562, |
| 427.0042419433594, |
| 33.333335876464844, |
| -66.666748046875, |
| 300.0, |
| 2516.666748046875, |
| 0.0, |
| 0.0 |
| ] |
| }, |
| { |
| "tick": 1, |
| "acting_map": "dn_bus", |
| "dn_hz": 1236.204833984375, |
| "t1_mn_hz": 691.3294677734375, |
| "g_hash": "7bca9074a252951b", |
| "attached": false, |
| "cube_z_mm": 9.000000000000002, |
| "tcp": { |
| "x": 279.924809776252, |
| "y": -5.447334609319369e-05, |
| "z": 3.377637327014127 |
| }, |
| "gripper_mm": 83.39289468853806, |
| "command": { |
| "dx_mm": 0.14521691610434573, |
| "dy_mm": 0.00013528535663239144, |
| "dz_mm": -7.634863890580956, |
| "dgrip_mm": -7.194078212663963 |
| }, |
| "abort": false, |
| "tcp_level": false, |
| "hold_s": 0.0, |
| "tcp_rpy_deg": { |
| "pitch": 89.6935780579203, |
| "roll": -172.17392703135351, |
| "yaw": -172.17398883610028 |
| }, |
| "contact": false, |
| "bus": [ |
| 590.8772583007812, |
| 1431.6456298828125, |
| 0.0, |
| 533.33349609375, |
| 733.3333129882812, |
| 8683.333984375, |
| 200.0, |
| 100.00000762939453 |
| ] |
| }, |
| { |
| "tick": 2, |
| "acting_map": "dn_bus", |
| "dn_hz": 1242.4471435546875, |
| "t1_mn_hz": 711.7533569335938, |
| "g_hash": "7bca9074a252951b", |
| "attached": false, |
| "cube_z_mm": 9.000000000000002, |
| "tcp": { |
| "x": 279.9665681759981, |
| "y": -3.0397296323957167e-05, |
| "z": 6.303158277458865 |
| }, |
| "gripper_mm": 82.3898150815474, |
| "command": { |
| "dx_mm": 0.07519022374799533, |
| "dy_mm": 5.447334609319369e-05, |
| "dz_mm": -7.634863890580955, |
| "dgrip_mm": -7.19409296594659 |
| }, |
| "abort": false, |
| "tcp_level": false, |
| "hold_s": 0.0, |
| "tcp_rpy_deg": { |
| "pitch": 89.94356580056696, |
| "roll": -132.146234178831, |
| "yaw": -132.1462325348752 |
| }, |
| "contact": false, |
| "bus": [ |
| 609.1228637695312, |
| 1439.2406005859375, |
| 0.0, |
| 866.66650390625, |
| 700.0, |
| 8400.0, |
| 166.6666717529297, |
| 66.66667175292969 |
| ] |
| } |
| ], |
| "tick_log_tail": [ |
| { |
| "tick": 34, |
| "acting_map": "dn_bus", |
| "dn_hz": 1242.69677734375, |
| "t1_mn_hz": 694.7977905273438, |
| "g_hash": "7bca9074a252951b", |
| "attached": true, |
| "cube_z_mm": 107.41272355160712, |
| "tcp": { |
| "x": 279.9295362664007, |
| "y": -2.9997696313784875e-05, |
| "z": 102.92521014912809 |
| }, |
| "gripper_mm": 20.021101652109767, |
| "command": { |
| "dx_mm": 0.10154425258957644, |
| "dy_mm": -1.7883890778464017e-06, |
| "dz_mm": 7.634862153873027, |
| "dgrip_mm": 0.0 |
| }, |
| "abort": false, |
| "tcp_level": true, |
| "hold_s": 0.9567173339892179, |
| "tcp_rpy_deg": { |
| "pitch": 89.42713147406083, |
| "roll": -4.19590242559691, |
| "yaw": -4.181447588598724 |
| }, |
| "contact": true, |
| "bus": [ |
| 598.5964965820312, |
| 1435.8651123046875, |
| 0.0, |
| 466.6669921875, |
| 733.3333129882812, |
| 8766.6669921875, |
| 200.0, |
| 66.66667175292969 |
| ] |
| }, |
| { |
| "tick": 35, |
| "acting_map": "dn_bus", |
| "dn_hz": 1241.198486328125, |
| "t1_mn_hz": 710.2119750976562, |
| "g_hash": "7bca9074a252951b", |
| "attached": true, |
| "cube_z_mm": 114.75293486472327, |
| "tcp": { |
| "x": 279.90924668289136, |
| "y": -1.1642234829591395e-06, |
| "z": 110.2653348558455 |
| }, |
| "gripper_mm": 20.021101652109767, |
| "command": { |
| "dx_mm": 0.07627700966020257, |
| "dy_mm": 4.2429474056074204e-05, |
| "dz_mm": 7.6348621200679005, |
| "dgrip_mm": 0.0 |
| }, |
| "abort": false, |
| "tcp_level": true, |
| "hold_s": 1.9158709589974023, |
| "tcp_rpy_deg": { |
| "pitch": 89.94761984526211, |
| "roll": -52.979873942384536, |
| "yaw": -52.96186312595293 |
| }, |
| "contact": true, |
| "bus": [ |
| 602.8070678710938, |
| 1436.7088623046875, |
| 0.0, |
| 866.6669921875, |
| 700.0, |
| 8516.6669921875, |
| 133.33334350585938, |
| 133.33334350585938 |
| ] |
| }, |
| { |
| "tick": 36, |
| "acting_map": "dn_bus", |
| "dn_hz": 1264.669189453125, |
| "t1_mn_hz": 703.2755126953125, |
| "g_hash": "7bca9074a252951b", |
| "attached": true, |
| "cube_z_mm": 121.26385527103123, |
| "tcp": { |
| "x": 279.92888495321995, |
| "y": -2.8018764370083384e-05, |
| "z": 116.7763499671297 |
| }, |
| "gripper_mm": 20.021101652109767, |
| "command": { |
| "dx_mm": 0.10325561863299981, |
| "dy_mm": -9.551982093746608e-07, |
| "dz_mm": 7.6348625815604025, |
| "dgrip_mm": 0.0 |
| }, |
| "abort": false, |
| "tcp_level": true, |
| "hold_s": 2.798821999982465, |
| "tcp_rpy_deg": { |
| "pitch": 89.41216133979745, |
| "roll": -4.091906115034324, |
| "yaw": -4.073193167461409 |
| }, |
| "contact": true, |
| "bus": [ |
| 609.122802734375, |
| 1460.337646484375, |
| 0.0, |
| 866.66650390625, |
| 733.3333129882812, |
| 8783.3330078125, |
| 233.33334350585938, |
| 100.00000762939453 |
| ] |
| } |
| ], |
| "trace": "checkpoints/rebot-pickup/eval-size20-trace.jsonl" |
| } |
|
|
