{ "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": 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"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" }