| { |
| "mode": "environment-free sequential Lula DLS with kinematic teleport", |
| "frame_name": "right_gripper", |
| "uses_isaac_scene": false, |
| "uses_objects": false, |
| "uses_physics": false, |
| "uses_collision": false, |
| "uses_camera": false, |
| "uses_gpu_simulation": false, |
| "counts": { |
| "episodes": 9, |
| "numeric_pass": 9, |
| "target_equivalence_pass": 9, |
| "kinematic_equivalence_pass": 9, |
| "strict_ik_pass": 9 |
| }, |
| "conversion_status": "pass", |
| "source_joint_branch_equivalence_status": "pass", |
| "episodes": [ |
| { |
| "task": "1ext", |
| "episode_index": 2433, |
| "frames": 30, |
| "numeric_pass": true, |
| "target_equivalence_pass": true, |
| "kinematic_equivalence_pass": true, |
| "strict_ik_pass": true, |
| "numeric": { |
| "ee_abs_quat": { |
| "vs_joint_fk_position_max_m": 2.965795363069542e-08, |
| "vs_joint_fk_rotation_max_rad": 6.989264130329237e-08 |
| }, |
| "ee_abs_rot6d": { |
| "vs_joint_fk_position_max_m": 2.965795363069542e-08, |
| "vs_joint_fk_rotation_max_rad": 2.9802322387695312e-08 |
| }, |
| "ee_delta": { |
| "vs_joint_fk_position_max_m": 6.393482368808433e-09, |
| "vs_joint_fk_rotation_max_rad": 0.0 |
| } |
| }, |
| "target_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "target_position_max_m": 0.0, |
| "target_rotation_max_rad": 7.300048299977715e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "target_position_max_m": 3.099996515001366e-08, |
| "target_rotation_max_rad": 6.989264130329237e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "target_position_max_m": 3.099996515001366e-08, |
| "target_rotation_max_rad": 0.0 |
| } |
| }, |
| "spaces": { |
| "ee_abs_quat": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 3.654652590290193e-08, |
| "position_max_m": 7.193383428421455e-08, |
| "rotation_rmse_deg": 3.708432114758196e-06, |
| "rotation_max_deg": 9.035490975690211e-06, |
| "joint_vs_source_rmse_rad": 0.07373844130802912, |
| "joint_vs_source_max_rad": 0.1701692597655564, |
| "ik_position_residual_max_m": 4.49701026661975e-08, |
| "ik_rotation_residual_max_rad": 1.3079625406384698e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 3.1 |
| }, |
| "ee_abs_rot6d": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 3.654655915610069e-08, |
| "position_max_m": 7.193377355092279e-08, |
| "rotation_rmse_deg": 3.1945284701301994e-06, |
| "rotation_max_deg": 7.636383641665696e-06, |
| "joint_vs_source_rmse_rad": 0.0737384400099015, |
| "joint_vs_source_max_rad": 0.17016928621668367, |
| "ik_position_residual_max_m": 4.497005075663124e-08, |
| "ik_rotation_residual_max_rad": 1.3079541675228675e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 3.1 |
| }, |
| "ee_delta": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.3574328696610482e-08, |
| "position_max_m": 4.3345946564032476e-08, |
| "rotation_rmse_deg": 3.2473341709810944e-06, |
| "rotation_max_deg": 7.636383641665696e-06, |
| "joint_vs_source_rmse_rad": 0.0737384407988419, |
| "joint_vs_source_max_rad": 0.17016928963208852, |
| "ik_position_residual_max_m": 4.497016786462337e-08, |
| "ik_rotation_residual_max_rad": 1.307957621852245e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 3.1 |
| } |
| }, |
| "trajectory_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "joint_max_rad": 1.023918394515988e-07, |
| "tcp_position_max_m": 3.5090005544749984e-13, |
| "tcp_rotation_max_rad": 7.300048299977715e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "joint_max_rad": 1.6637517230577714e-07, |
| "tcp_position_max_m": 3.099995257609667e-08, |
| "tcp_rotation_max_rad": 7.88495335300145e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "joint_max_rad": 1.2200064825051982e-07, |
| "tcp_position_max_m": 3.099986823090714e-08, |
| "tcp_rotation_max_rad": 4.2146848510894035e-08 |
| } |
| } |
| }, |
| { |
| "task": "3a", |
| "episode_index": 1533, |
| "frames": 40, |
| "numeric_pass": true, |
| "target_equivalence_pass": true, |
| "kinematic_equivalence_pass": true, |
| "strict_ik_pass": true, |
| "numeric": { |
| "ee_abs_quat": { |
| "vs_joint_fk_position_max_m": 3.094041988729495e-08, |
| "vs_joint_fk_rotation_max_rad": 6.664001874625058e-08 |
| }, |
| "ee_abs_rot6d": { |
| "vs_joint_fk_position_max_m": 3.094041988729495e-08, |
| "vs_joint_fk_rotation_max_rad": 2.9802322387695312e-08 |
| }, |
| "ee_delta": { |
| "vs_joint_fk_position_max_m": 7.331098514483377e-09, |
| "vs_joint_fk_rotation_max_rad": 2.1073424255447017e-08 |
| } |
| }, |
| "target_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "target_position_max_m": 0.0, |
| "target_rotation_max_rad": 7.300048299977715e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "target_position_max_m": 3.761395767571502e-08, |
| "target_rotation_max_rad": 7.300048299977715e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "target_position_max_m": 3.761395767571502e-08, |
| "target_rotation_max_rad": 2.1073424255447017e-08 |
| } |
| }, |
| "spaces": { |
| "ee_abs_quat": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.641083667728614e-08, |
| "position_max_m": 8.778773491893941e-08, |
| "rotation_rmse_deg": 1.9375207382177287e-06, |
| "rotation_max_deg": 5.7905745997743736e-06, |
| "joint_vs_source_rmse_rad": 0.12082130410533459, |
| "joint_vs_source_max_rad": 0.2894062651101062, |
| "ik_position_residual_max_m": 9.091148348413287e-08, |
| "ik_rotation_residual_max_rad": 1.1623156600980114e-07, |
| "ik_iterations_max": 7, |
| "ik_iterations_mean": 2.55 |
| }, |
| "ee_abs_rot6d": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.6410853105010003e-08, |
| "position_max_m": 8.778774733516587e-08, |
| "rotation_rmse_deg": 1.8705243402217368e-06, |
| "rotation_max_deg": 7.443026089337888e-06, |
| "joint_vs_source_rmse_rad": 0.12082130647830558, |
| "joint_vs_source_max_rad": 0.28940627121119367, |
| "ik_position_residual_max_m": 9.09114991655449e-08, |
| "ik_rotation_residual_max_rad": 1.1623159582847713e-07, |
| "ik_iterations_max": 7, |
| "ik_iterations_mean": 2.55 |
| }, |
| "ee_delta": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.0974976299721503e-08, |
| "position_max_m": 9.134618503036939e-08, |
| "rotation_rmse_deg": 1.7600994619320254e-06, |
| "rotation_max_deg": 6.722620413208828e-06, |
| "joint_vs_source_rmse_rad": 0.12082130159869006, |
| "joint_vs_source_max_rad": 0.28940625874050574, |
| "ik_position_residual_max_m": 9.091268037114253e-08, |
| "ik_rotation_residual_max_rad": 1.162315239836074e-07, |
| "ik_iterations_max": 7, |
| "ik_iterations_mean": 2.55 |
| } |
| }, |
| "trajectory_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "joint_max_rad": 9.612172258144369e-08, |
| "tcp_position_max_m": 2.0178522280375526e-13, |
| "tcp_rotation_max_rad": 6.664001874625058e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "joint_max_rad": 1.398147424502838e-07, |
| "tcp_position_max_m": 3.761379927789935e-08, |
| "tcp_rotation_max_rad": 6.989264130329237e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "joint_max_rad": 1.3659390241116398e-07, |
| "tcp_position_max_m": 3.7613789035151574e-08, |
| "tcp_rotation_max_rad": 4.2146848510894035e-08 |
| } |
| } |
| }, |
| { |
| "task": "3b", |
| "episode_index": 2624, |
| "frames": 43, |
| "numeric_pass": true, |
| "target_equivalence_pass": true, |
| "kinematic_equivalence_pass": true, |
| "strict_ik_pass": true, |
| "numeric": { |
| "ee_abs_quat": { |
| "vs_joint_fk_position_max_m": 3.094056871150997e-08, |
| "vs_joint_fk_rotation_max_rad": 5.575503985246929e-08 |
| }, |
| "ee_abs_rot6d": { |
| "vs_joint_fk_position_max_m": 3.094056871150997e-08, |
| "vs_joint_fk_rotation_max_rad": 2.9802322387695312e-08 |
| }, |
| "ee_delta": { |
| "vs_joint_fk_position_max_m": 3.2495334449193685e-09, |
| "vs_joint_fk_rotation_max_rad": 0.0 |
| } |
| }, |
| "target_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "target_position_max_m": 0.0, |
| "target_rotation_max_rad": 5.16191365590357e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "target_position_max_m": 3.2590571635585243e-08, |
| "target_rotation_max_rad": 4.2146848510894035e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "target_position_max_m": 3.2590571635585243e-08, |
| "target_rotation_max_rad": 2.1073424255447017e-08 |
| } |
| }, |
| "spaces": { |
| "ee_abs_quat": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.180652800915146e-08, |
| "position_max_m": 6.825697605891215e-08, |
| "rotation_rmse_deg": 3.751004313259738e-06, |
| "rotation_max_deg": 6.273929367455621e-06, |
| "joint_vs_source_rmse_rad": 0.0943206720900372, |
| "joint_vs_source_max_rad": 0.26876775569713374, |
| "ik_position_residual_max_m": 4.502324668212593e-08, |
| "ik_rotation_residual_max_rad": 1.0409832009452605e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.395348837209302 |
| }, |
| "ee_abs_rot6d": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.180650516319694e-08, |
| "position_max_m": 6.825696097150113e-08, |
| "rotation_rmse_deg": 3.1785690274014897e-06, |
| "rotation_max_deg": 5.7905745997743736e-06, |
| "joint_vs_source_rmse_rad": 0.09432067111555482, |
| "joint_vs_source_max_rad": 0.2687677440367521, |
| "ik_position_residual_max_m": 4.502013096072356e-08, |
| "ik_rotation_residual_max_rad": 1.0409828724437796e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.395348837209302 |
| }, |
| "ee_delta": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.0555280521247235e-08, |
| "position_max_m": 4.527364305474714e-08, |
| "rotation_rmse_deg": 2.9403132798884834e-06, |
| "rotation_max_deg": 5.7905745997743736e-06, |
| "joint_vs_source_rmse_rad": 0.09432067384518553, |
| "joint_vs_source_max_rad": 0.26876775321863344, |
| "ik_position_residual_max_m": 4.5016420651952146e-08, |
| "ik_rotation_residual_max_rad": 1.0409834975683972e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.395348837209302 |
| } |
| }, |
| "trajectory_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "joint_max_rad": 8.581951504993413e-08, |
| "tcp_position_max_m": 1.2631014742358003e-11, |
| "tcp_rotation_max_rad": 5.960464477539064e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "joint_max_rad": 1.4375133394750605e-07, |
| "tcp_position_max_m": 3.2590571466760393e-08, |
| "tcp_rotation_max_rad": 5.575503985246929e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "joint_max_rad": 1.3682347832499886e-07, |
| "tcp_position_max_m": 3.2590571693901e-08, |
| "tcp_rotation_max_rad": 2.9802322387695312e-08 |
| } |
| } |
| }, |
| { |
| "task": "3c", |
| "episode_index": 3591, |
| "frames": 43, |
| "numeric_pass": true, |
| "target_equivalence_pass": true, |
| "kinematic_equivalence_pass": true, |
| "strict_ik_pass": true, |
| "numeric": { |
| "ee_abs_quat": { |
| "vs_joint_fk_position_max_m": 3.187956149374929e-08, |
| "vs_joint_fk_rotation_max_rad": 6.322027276634106e-08 |
| }, |
| "ee_abs_rot6d": { |
| "vs_joint_fk_position_max_m": 3.187956149374929e-08, |
| "vs_joint_fk_rotation_max_rad": 2.9802322387695312e-08 |
| }, |
| "ee_delta": { |
| "vs_joint_fk_position_max_m": 5.507667293736786e-09, |
| "vs_joint_fk_rotation_max_rad": 0.0 |
| } |
| }, |
| "target_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "target_position_max_m": 0.0, |
| "target_rotation_max_rad": 6.322027276634106e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "target_position_max_m": 3.4375178267850306e-08, |
| "target_rotation_max_rad": 5.16191365590357e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "target_position_max_m": 3.4375178267850306e-08, |
| "target_rotation_max_rad": 2.9802322387695312e-08 |
| } |
| }, |
| "spaces": { |
| "ee_abs_quat": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 1.8572196405309473e-08, |
| "position_max_m": 4.982827691834917e-08, |
| "rotation_rmse_deg": 2.7863858523327887e-06, |
| "rotation_max_deg": 6.613302226726415e-06, |
| "joint_vs_source_rmse_rad": 0.09415471249337189, |
| "joint_vs_source_max_rad": 0.2880095662463041, |
| "ik_position_residual_max_m": 4.986386111286547e-08, |
| "ik_rotation_residual_max_rad": 1.2376203113465058e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.3488372093023258 |
| }, |
| "ee_abs_rot6d": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 1.857219517252742e-08, |
| "position_max_m": 4.9828291989196546e-08, |
| "rotation_rmse_deg": 1.931167116607379e-06, |
| "rotation_max_deg": 7.824964720612764e-06, |
| "joint_vs_source_rmse_rad": 0.09415471321513218, |
| "joint_vs_source_max_rad": 0.2880095600017487, |
| "ik_position_residual_max_m": 4.986387640047397e-08, |
| "ik_rotation_residual_max_rad": 1.237620822341512e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.3488372093023258 |
| }, |
| "ee_delta": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 9.569000355970602e-09, |
| "position_max_m": 4.5798727209703786e-08, |
| "rotation_rmse_deg": 2.358008895988246e-06, |
| "rotation_max_deg": 7.3444386094852035e-06, |
| "joint_vs_source_rmse_rad": 0.0941547165653074, |
| "joint_vs_source_max_rad": 0.28800956480117457, |
| "ik_position_residual_max_m": 4.9863751929752146e-08, |
| "ik_rotation_residual_max_rad": 1.2376175545436004e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.3488372093023258 |
| } |
| }, |
| "trajectory_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "joint_max_rad": 8.463044842699219e-08, |
| "tcp_position_max_m": 5.34032061264213e-14, |
| "tcp_rotation_max_rad": 5.575503985246929e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "joint_max_rad": 1.5039966605456812e-07, |
| "tcp_position_max_m": 3.437502092057901e-08, |
| "tcp_rotation_max_rad": 5.960464477539064e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "joint_max_rad": 1.5517017915023246e-07, |
| "tcp_position_max_m": 3.43749893278331e-08, |
| "tcp_rotation_max_rad": 4.2146848510894035e-08 |
| } |
| } |
| }, |
| { |
| "task": "3d", |
| "episode_index": 751, |
| "frames": 43, |
| "numeric_pass": true, |
| "target_equivalence_pass": true, |
| "kinematic_equivalence_pass": true, |
| "strict_ik_pass": true, |
| "numeric": { |
| "ee_abs_quat": { |
| "vs_joint_fk_position_max_m": 3.111962905570949e-08, |
| "vs_joint_fk_rotation_max_rad": 5.960464477539064e-08 |
| }, |
| "ee_abs_rot6d": { |
| "vs_joint_fk_position_max_m": 3.111962905570949e-08, |
| "vs_joint_fk_rotation_max_rad": 3.650024149988857e-08 |
| }, |
| "ee_delta": { |
| "vs_joint_fk_position_max_m": 5.5948641598834025e-09, |
| "vs_joint_fk_rotation_max_rad": 4.2146848510894035e-08 |
| } |
| }, |
| "target_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "target_position_max_m": 0.0, |
| "target_rotation_max_rad": 5.960464477539064e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "target_position_max_m": 3.425035804257169e-08, |
| "target_rotation_max_rad": 6.322027276634106e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "target_position_max_m": 3.425035804257169e-08, |
| "target_rotation_max_rad": 6.322027276634106e-08 |
| } |
| }, |
| "spaces": { |
| "ee_abs_quat": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.743039096977034e-08, |
| "position_max_m": 9.472235707090848e-08, |
| "rotation_rmse_deg": 3.1356134173787795e-06, |
| "rotation_max_deg": 8.622691156561377e-06, |
| "joint_vs_source_rmse_rad": 0.07221482528812924, |
| "joint_vs_source_max_rad": 0.17487492771840255, |
| "ik_position_residual_max_m": 9.511793968151766e-08, |
| "ik_rotation_residual_max_rad": 1.6772662041722712e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.395348837209302 |
| }, |
| "ee_abs_rot6d": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.7430352401099652e-08, |
| "position_max_m": 9.472211382272958e-08, |
| "rotation_rmse_deg": 2.7061408103009367e-06, |
| "rotation_max_deg": 1.1197136397927998e-05, |
| "joint_vs_source_rmse_rad": 0.07221482685347702, |
| "joint_vs_source_max_rad": 0.17487492771645521, |
| "ik_position_residual_max_m": 9.511768090583288e-08, |
| "ik_rotation_residual_max_rad": 1.6772662133861268e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.395348837209302 |
| }, |
| "ee_delta": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.329838129939352e-08, |
| "position_max_m": 9.561130467192482e-08, |
| "rotation_rmse_deg": 3.1732313762342134e-06, |
| "rotation_max_deg": 8.706816964856289e-06, |
| "joint_vs_source_rmse_rad": 0.07221482701161798, |
| "joint_vs_source_max_rad": 0.17487491395204835, |
| "ik_position_residual_max_m": 9.51170231093336e-08, |
| "ik_rotation_residual_max_rad": 1.6772659203862418e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.395348837209302 |
| } |
| }, |
| "trajectory_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "joint_max_rad": 9.991210658810701e-08, |
| "tcp_position_max_m": 2.7199517140229677e-13, |
| "tcp_rotation_max_rad": 6.664001874625058e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "joint_max_rad": 1.264109392717927e-07, |
| "tcp_position_max_m": 3.4249995708969655e-08, |
| "tcp_rotation_max_rad": 7.598131170262077e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "joint_max_rad": 1.2570085017316046e-07, |
| "tcp_position_max_m": 3.425000577353923e-08, |
| "tcp_rotation_max_rad": 6.664001874625058e-08 |
| } |
| } |
| }, |
| { |
| "task": "5a", |
| "episode_index": 1721, |
| "frames": 62, |
| "numeric_pass": true, |
| "target_equivalence_pass": true, |
| "kinematic_equivalence_pass": true, |
| "strict_ik_pass": true, |
| "numeric": { |
| "ee_abs_quat": { |
| "vs_joint_fk_position_max_m": 3.413341843680789e-08, |
| "vs_joint_fk_rotation_max_rad": 7.300048299977715e-08 |
| }, |
| "ee_abs_rot6d": { |
| "vs_joint_fk_position_max_m": 3.413341843680789e-08, |
| "vs_joint_fk_rotation_max_rad": 4.2146848510894035e-08 |
| }, |
| "ee_delta": { |
| "vs_joint_fk_position_max_m": 4.901929382094795e-09, |
| "vs_joint_fk_rotation_max_rad": 7.300048299977715e-08 |
| } |
| }, |
| "target_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "target_position_max_m": 0.0, |
| "target_rotation_max_rad": 8.688795409866128e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "target_position_max_m": 3.430464564512916e-08, |
| "target_rotation_max_rad": 7.300048299977715e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "target_position_max_m": 3.430464564512916e-08, |
| "target_rotation_max_rad": 7.300048299977715e-08 |
| } |
| }, |
| "spaces": { |
| "ee_abs_quat": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.945304249253908e-08, |
| "position_max_m": 7.193246916484225e-08, |
| "rotation_rmse_deg": 2.6603890156307838e-06, |
| "rotation_max_deg": 1.2489631698061449e-05, |
| "joint_vs_source_rmse_rad": 0.0990493743199824, |
| "joint_vs_source_max_rad": 0.2965666171562926, |
| "ik_position_residual_max_m": 7.362283057266083e-08, |
| "ik_rotation_residual_max_rad": 2.029830969613595e-07, |
| "ik_iterations_max": 6, |
| "ik_iterations_mean": 3.435483870967742 |
| }, |
| "ee_abs_rot6d": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.9453043471440433e-08, |
| "position_max_m": 7.193246791270787e-08, |
| "rotation_rmse_deg": 2.629272284185214e-06, |
| "rotation_max_deg": 1.1581149199548762e-05, |
| "joint_vs_source_rmse_rad": 0.09904937728365962, |
| "joint_vs_source_max_rad": 0.29656662591814614, |
| "ik_position_residual_max_m": 7.362282919311324e-08, |
| "ik_rotation_residual_max_rad": 2.0298309223297157e-07, |
| "ik_iterations_max": 6, |
| "ik_iterations_mean": 3.435483870967742 |
| }, |
| "ee_delta": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 1.354205952309225e-08, |
| "position_max_m": 7.108670358127955e-08, |
| "rotation_rmse_deg": 2.7387805801461964e-06, |
| "rotation_max_deg": 1.1326587362040649e-05, |
| "joint_vs_source_rmse_rad": 0.09904937184318535, |
| "joint_vs_source_max_rad": 0.29656663266319355, |
| "ik_position_residual_max_m": 7.36222784610723e-08, |
| "ik_rotation_residual_max_rad": 2.0298117992172817e-07, |
| "ik_iterations_max": 6, |
| "ik_iterations_mean": 3.435483870967742 |
| } |
| }, |
| "trajectory_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "joint_max_rad": 1.0388232629665595e-07, |
| "tcp_position_max_m": 4.140744239631692e-14, |
| "tcp_rotation_max_rad": 7.88495335300145e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "joint_max_rad": 1.862511920247556e-07, |
| "tcp_position_max_m": 3.4304645564892564e-08, |
| "tcp_rotation_max_rad": 7.88495335300145e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "joint_max_rad": 1.8630409792663727e-07, |
| "tcp_position_max_m": 3.430464588718204e-08, |
| "tcp_rotation_max_rad": 7.300048299977715e-08 |
| } |
| } |
| }, |
| { |
| "task": "5b", |
| "episode_index": 2849, |
| "frames": 62, |
| "numeric_pass": true, |
| "target_equivalence_pass": true, |
| "kinematic_equivalence_pass": true, |
| "strict_ik_pass": true, |
| "numeric": { |
| "ee_abs_quat": { |
| "vs_joint_fk_position_max_m": 3.1979445110082305e-08, |
| "vs_joint_fk_rotation_max_rad": 7.598131170262077e-08 |
| }, |
| "ee_abs_rot6d": { |
| "vs_joint_fk_position_max_m": 3.1979445110082305e-08, |
| "vs_joint_fk_rotation_max_rad": 4.2146848510894035e-08 |
| }, |
| "ee_delta": { |
| "vs_joint_fk_position_max_m": 3.787163343734304e-09, |
| "vs_joint_fk_rotation_max_rad": 3.650024149988857e-08 |
| } |
| }, |
| "target_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "target_position_max_m": 0.0, |
| "target_rotation_max_rad": 7.300048299977715e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "target_position_max_m": 3.123487674106191e-08, |
| "target_rotation_max_rad": 9.424321830774489e-08 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "target_position_max_m": 3.123487674106191e-08, |
| "target_rotation_max_rad": 5.960464477539064e-08 |
| } |
| }, |
| "spaces": { |
| "ee_abs_quat": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 3.024267189720122e-08, |
| "position_max_m": 6.585807321870324e-08, |
| "rotation_rmse_deg": 2.881039753949232e-06, |
| "rotation_max_deg": 1.3281600966983096e-05, |
| "joint_vs_source_rmse_rad": 0.20076379096406635, |
| "joint_vs_source_max_rad": 0.5060582649770297, |
| "ik_position_residual_max_m": 8.065979029886807e-08, |
| "ik_rotation_residual_max_rad": 2.377707573563511e-07, |
| "ik_iterations_max": 6, |
| "ik_iterations_mean": 3.225806451612903 |
| }, |
| "ee_abs_rot6d": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 3.024267001764049e-08, |
| "position_max_m": 6.585807348980188e-08, |
| "rotation_rmse_deg": 2.6515357830406168e-06, |
| "rotation_max_deg": 1.344524082641768e-05, |
| "joint_vs_source_rmse_rad": 0.2007637910894452, |
| "joint_vs_source_max_rad": 0.5060582659796666, |
| "ik_position_residual_max_m": 8.065979067966919e-08, |
| "ik_rotation_residual_max_rad": 2.3777076187245121e-07, |
| "ik_iterations_max": 6, |
| "ik_iterations_mean": 3.225806451612903 |
| }, |
| "ee_delta": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 1.8464353505346238e-08, |
| "position_max_m": 8.134070666716694e-08, |
| "rotation_rmse_deg": 2.7771466907663414e-06, |
| "rotation_max_deg": 1.2778113880520818e-05, |
| "joint_vs_source_rmse_rad": 0.20076379703922942, |
| "joint_vs_source_max_rad": 0.5060583252336787, |
| "ik_position_residual_max_m": 8.066061791089227e-08, |
| "ik_rotation_residual_max_rad": 2.3777311296291627e-07, |
| "ik_iterations_max": 6, |
| "ik_iterations_mean": 3.225806451612903 |
| } |
| }, |
| "trajectory_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "joint_max_rad": 6.661792584239379e-08, |
| "tcp_position_max_m": 4.8784765448418403e-14, |
| "tcp_rotation_max_rad": 7.300048299977715e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "joint_max_rad": 1.4346513377283543e-07, |
| "tcp_position_max_m": 3.1234881776155e-08, |
| "tcp_rotation_max_rad": 1.0106459234841571e-07 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "joint_max_rad": 1.371612203815431e-07, |
| "tcp_position_max_m": 3.1234882047351766e-08, |
| "tcp_rotation_max_rad": 5.960464477539064e-08 |
| } |
| } |
| }, |
| { |
| "task": "5c", |
| "episode_index": 3748, |
| "frames": 61, |
| "numeric_pass": true, |
| "target_equivalence_pass": true, |
| "kinematic_equivalence_pass": true, |
| "strict_ik_pass": true, |
| "numeric": { |
| "ee_abs_quat": { |
| "vs_joint_fk_position_max_m": 3.5714083640640977e-08, |
| "vs_joint_fk_rotation_max_rad": 6.664001874625058e-08 |
| }, |
| "ee_abs_rot6d": { |
| "vs_joint_fk_position_max_m": 3.5714083640640977e-08, |
| "vs_joint_fk_rotation_max_rad": 4.2146848510894035e-08 |
| }, |
| "ee_delta": { |
| "vs_joint_fk_position_max_m": 7.815525078908049e-09, |
| "vs_joint_fk_rotation_max_rad": 1.6186804311275822e-07 |
| } |
| }, |
| "target_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "target_position_max_m": 0.0, |
| "target_rotation_max_rad": 6.664001874625058e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "target_position_max_m": 4.237844388113471e-08, |
| "target_rotation_max_rad": 1.788139343261721e-07 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "target_position_max_m": 4.237844388113471e-08, |
| "target_rotation_max_rad": 1.6049041769309372e-07 |
| } |
| }, |
| "spaces": { |
| "ee_abs_quat": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 3.6165588589952216e-08, |
| "position_max_m": 9.219572227683186e-08, |
| "rotation_rmse_deg": 4.176901708811209e-06, |
| "rotation_max_deg": 2.03119192222966e-05, |
| "joint_vs_source_rmse_rad": 0.09325348837538122, |
| "joint_vs_source_max_rad": 0.3061690172491708, |
| "ik_position_residual_max_m": 7.26560208983254e-08, |
| "ik_rotation_residual_max_rad": 3.32064003286457e-07, |
| "ik_iterations_max": 6, |
| "ik_iterations_mean": 4.426229508196721 |
| }, |
| "ee_abs_rot6d": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 3.616557562529572e-08, |
| "position_max_m": 9.219572373039627e-08, |
| "rotation_rmse_deg": 3.638712207905048e-06, |
| "rotation_max_deg": 1.9090959104164312e-05, |
| "joint_vs_source_rmse_rad": 0.0932534899152666, |
| "joint_vs_source_max_rad": 0.30616902060267237, |
| "ik_position_residual_max_m": 7.265577805611584e-08, |
| "ik_rotation_residual_max_rad": 3.320640191266184e-07, |
| "ik_iterations_max": 6, |
| "ik_iterations_mean": 4.426229508196721 |
| }, |
| "ee_delta": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 1.482704934991853e-08, |
| "position_max_m": 6.80126255928065e-08, |
| "rotation_rmse_deg": 4.959073131159454e-06, |
| "rotation_max_deg": 1.807098195138048e-05, |
| "joint_vs_source_rmse_rad": 0.0932534925070215, |
| "joint_vs_source_max_rad": 0.30616895903501185, |
| "ik_position_residual_max_m": 7.265556790220934e-08, |
| "ik_rotation_residual_max_rad": 3.3206118006207927e-07, |
| "ik_iterations_max": 6, |
| "ik_iterations_mean": 4.426229508196721 |
| } |
| }, |
| "trajectory_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "joint_max_rad": 7.308451932530602e-08, |
| "tcp_position_max_m": 2.438634951684374e-13, |
| "tcp_rotation_max_rad": 6.664001874625058e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "joint_max_rad": 2.0933705613401798e-07, |
| "tcp_position_max_m": 4.237847147886968e-08, |
| "tcp_rotation_max_rad": 1.5341684432308393e-07 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "joint_max_rad": 2.0923687737983698e-07, |
| "tcp_position_max_m": 4.237844465017129e-08, |
| "tcp_rotation_max_rad": 1.31603492294667e-07 |
| } |
| } |
| }, |
| { |
| "task": "5g", |
| "episode_index": 3653, |
| "frames": 63, |
| "numeric_pass": true, |
| "target_equivalence_pass": true, |
| "kinematic_equivalence_pass": true, |
| "strict_ik_pass": true, |
| "numeric": { |
| "ee_abs_quat": { |
| "vs_joint_fk_position_max_m": 3.5578779409677546e-08, |
| "vs_joint_fk_rotation_max_rad": 6.322027276634106e-08 |
| }, |
| "ee_abs_rot6d": { |
| "vs_joint_fk_position_max_m": 3.5578779409677546e-08, |
| "vs_joint_fk_rotation_max_rad": 2.9802322387695312e-08 |
| }, |
| "ee_delta": { |
| "vs_joint_fk_position_max_m": 3.7247525528888724e-09, |
| "vs_joint_fk_rotation_max_rad": 1.3818768405162858e-07 |
| } |
| }, |
| "target_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "target_position_max_m": 0.0, |
| "target_rotation_max_rad": 6.664001874625058e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "target_position_max_m": 3.8081009947757296e-08, |
| "target_rotation_max_rad": 1.8128044993574105e-07 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "target_position_max_m": 3.8081009947757296e-08, |
| "target_rotation_max_rad": 1.5485740967710726e-07 |
| } |
| }, |
| "spaces": { |
| "ee_abs_quat": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.1694983023870478e-08, |
| "position_max_m": 7.560469757729555e-08, |
| "rotation_rmse_deg": 3.673006912109245e-06, |
| "rotation_max_deg": 1.3336370687868338e-05, |
| "joint_vs_source_rmse_rad": 0.13440289176682663, |
| "joint_vs_source_max_rad": 0.5363407166720598, |
| "ik_position_residual_max_m": 5.149482668391451e-08, |
| "ik_rotation_residual_max_rad": 2.3499248080362564e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.746031746031746 |
| }, |
| "ee_abs_rot6d": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 2.1694974828731935e-08, |
| "position_max_m": 7.560468055515935e-08, |
| "rotation_rmse_deg": 2.9575586669422005e-06, |
| "rotation_max_deg": 1.3924626773561157e-05, |
| "joint_vs_source_rmse_rad": 0.13440289508216735, |
| "joint_vs_source_max_rad": 0.5363407292746302, |
| "ik_position_residual_max_m": 5.149466137404194e-08, |
| "ik_rotation_residual_max_rad": 2.34992330748105e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.746031746031746 |
| }, |
| "ee_delta": { |
| "equivalence_pass": true, |
| "strict_ik_pass": true, |
| "invalid_ik_steps": 0, |
| "position_rmse_m": 1.0453621777645544e-08, |
| "position_max_m": 5.1511125140225154e-08, |
| "rotation_rmse_deg": 6.303367320854547e-06, |
| "rotation_max_deg": 1.3171378306389627e-05, |
| "joint_vs_source_rmse_rad": 0.1344028959437277, |
| "joint_vs_source_max_rad": 0.5363407562807432, |
| "ik_position_residual_max_m": 5.1494484651037755e-08, |
| "ik_rotation_residual_max_rad": 2.3499513841855656e-07, |
| "ik_iterations_max": 5, |
| "ik_iterations_mean": 2.746031746031746 |
| } |
| }, |
| "trajectory_pairwise": { |
| "ee_abs_quat_vs_ee_abs_rot6d": { |
| "joint_max_rad": 6.915885553127055e-08, |
| "tcp_position_max_m": 2.9403063272263213e-13, |
| "tcp_rotation_max_rad": 7.300048299977715e-08 |
| }, |
| "ee_abs_quat_vs_ee_delta": { |
| "joint_max_rad": 1.8855623151736722e-07, |
| "tcp_position_max_m": 3.8081010021850755e-08, |
| "tcp_rotation_max_rad": 1.8730469182098736e-07 |
| }, |
| "ee_abs_rot6d_vs_ee_delta": { |
| "joint_max_rad": 1.8541491408896604e-07, |
| "tcp_position_max_m": 3.80810101072482e-08, |
| "tcp_rotation_max_rad": 1.576990670600291e-07 |
| } |
| } |
| } |
| ], |
| "generated_at_utc": "2026-07-15T11:11:44.549717+00:00", |
| "dataset": "/home/ext_minje/INSIGHTparam_multispace_v2", |
| "selection": "one deterministic median-length episode per task", |
| "selected_episodes": { |
| "1ext": 2433, |
| "3a": 1533, |
| "3b": 2624, |
| "3c": 3591, |
| "3d": 751, |
| "5a": 1721, |
| "5b": 2849, |
| "5c": 3748, |
| "5g": 3653 |
| }, |
| "thresholds": { |
| "numeric_position_m": 1e-05, |
| "numeric_rotation_rad": 0.0001, |
| "kinematic_equivalence_position_m": 0.002, |
| "kinematic_equivalence_rotation_deg": 0.5, |
| "strict_ik_position_m": 1e-07, |
| "strict_ik_rotation_rad": 1e-06 |
| }, |
| "solver": { |
| "type": "local Lula Jacobian damped least squares", |
| "max_iterations": 50, |
| "damping": 0.0001, |
| "max_joint_step_rad": 0.1, |
| "initial_joint": "observation.state[first_frame, 7:14]" |
| } |
| } |
|
|
