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Browse files- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0002/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0003/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0004/workflow_manifest.json +1508 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/debug/async_events.jsonl +39 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/action.json +29 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/camera.json +104 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/event.json +28 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/robot.json +37 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0006/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0007/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0009/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0010/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0011/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0015/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0015/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0018/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0019/workflow_manifest.json +611 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/debug/async_events.jsonl +59 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/action.json +29 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/camera.json +104 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/event.json +28 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/robot.json +37 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/workflow_manifest.json +613 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/action/executed_action_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/camera/metadata.json +59 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/camera/timestamp.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/debug/actions.jsonl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/debug/async_events.jsonl +57 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/event/event_dict.pkl +0 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/action.json +28 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/camera.json +101 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/event.json +27 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/robot.json +36 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/tactile.json +1 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/workflow_manifest.json +614 -0
- eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/rounds.json +195 -0
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0002/workflow_manifest.json
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| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0003/workflow_manifest.json
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@@ -0,0 +1,613 @@
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@@ -0,0 +1,1508 @@
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|
| 1 |
+
{
|
| 2 |
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"acceleration_limits": [
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| 3 |
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| 4 |
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| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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|
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|
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| 42 |
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| 43 |
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| 44 |
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|
| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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},
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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},
|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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},
|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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},
|
| 87 |
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|
| 88 |
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"domain": "sensor",
|
| 89 |
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|
| 90 |
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|
| 91 |
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|
| 92 |
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},
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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},
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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},
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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"right_wrist_0": "260322279382"
|
| 161 |
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}
|
| 162 |
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},
|
| 163 |
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"collection_input_source": "pedal,tty",
|
| 164 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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"devices": [
|
| 169 |
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"/dev/input/prometheus-pedal",
|
| 170 |
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"/dev/input/prometheus-pedal-aux"
|
| 171 |
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],
|
| 172 |
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"exclusive": true,
|
| 173 |
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|
| 174 |
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"2": 0,
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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|
| 181 |
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|
| 182 |
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}
|
| 183 |
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},
|
| 184 |
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|
| 185 |
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"id": "yam",
|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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"collection_mode": "policy",
|
| 191 |
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|
| 192 |
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|
| 193 |
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"follower_arm": "yam_ultra",
|
| 194 |
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|
| 195 |
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"left": "can_follower_l",
|
| 196 |
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"right": "can_follower_r"
|
| 197 |
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},
|
| 198 |
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"follower_gripper": "linear_4310",
|
| 199 |
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|
| 200 |
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|
| 201 |
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"enabled": false,
|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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"timeout_s": 25.0,
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/action/executed_action_dict.pkl
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/camera/metadata.json
ADDED
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@@ -0,0 +1,59 @@
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|
| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 12 |
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| 13 |
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| 14 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 22 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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},
|
| 53 |
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|
| 54 |
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"timestamps": "camera/timestamp.pkl::right_wrist_0",
|
| 55 |
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw",
|
| 56 |
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|
| 57 |
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|
| 58 |
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}
|
| 59 |
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}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/camera/timestamp.pkl
ADDED
|
Binary file (7.96 kB). View file
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|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/debug/actions.jsonl
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/debug/async_events.jsonl
ADDED
|
@@ -0,0 +1,39 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{"event": "prediction_requested", "time_ns": 1790275128006869634, "actions_sent": 0, "prediction": 0, "queue_remaining": 0}
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| 2 |
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| 3 |
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{"event": "prediction_requested", "time_ns": 1790275128732608308, "actions_sent": 18, "prediction": 1, "queue_remaining": 12}
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| 4 |
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{"event": "plan_adopted", "time_ns": 1790275128834667300, "actions_sent": 21, "prediction": 1, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.35681999602821, "blended_steps": 5}
|
| 5 |
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{"event": "prediction_requested", "time_ns": 1790275129311331141, "actions_sent": 35, "prediction": 2, "queue_remaining": 12}
|
| 6 |
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{"event": "plan_adopted", "time_ns": 1790275129416287698, "actions_sent": 38, "prediction": 2, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 132.87041000148747, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1790275129900063569, "actions_sent": 52, "prediction": 3, "queue_remaining": 12}
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| 8 |
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|
| 9 |
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{"event": "prediction_requested", "time_ns": 1790275130476150557, "actions_sent": 69, "prediction": 4, "queue_remaining": 12}
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| 36 |
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{"event": "plan_adopted", "time_ns": 1790275137968422281, "actions_sent": 287, "prediction": 17, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.9500330054434, "blended_steps": 5}
|
| 37 |
+
{"event": "prediction_requested", "time_ns": 1790275138406844218, "actions_sent": 300, "prediction": 18, "queue_remaining": 12}
|
| 38 |
+
{"event": "plan_adopted", "time_ns": 1790275138514037229, "actions_sent": 303, "prediction": 18, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 127.25167299504392, "blended_steps": 5}
|
| 39 |
+
{"event": "operator_stopped", "time_ns": 1790275138910509791, "actions_sent": 315, "result": "success"}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 315,
|
| 5 |
+
"camera.base_0_rgb": 329,
|
| 6 |
+
"camera.left_wrist_0_rgb": 329,
|
| 7 |
+
"camera.right_wrist_0_rgb": 328,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2617,
|
| 11 |
+
"robot.robot_state": 1315
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005",
|
| 14 |
+
"executed_actions": 315,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 5,
|
| 19 |
+
"run_id": "20260925_023836_347536_round_0005",
|
| 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": 1790275139.0185654
|
| 28 |
+
}
|
| 29 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/camera.json
ADDED
|
@@ -0,0 +1,104 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_camera_base_0_recorder": {
|
| 3 |
+
"camera_frames": {
|
| 4 |
+
"base_0_rgb": 329
|
| 5 |
+
},
|
| 6 |
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"camera_timestamp_samples": 329,
|
| 7 |
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"complete_sensor_bundles": 329,
|
| 8 |
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"counts": {
|
| 9 |
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"action.executed": 315,
|
| 10 |
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"camera.base_0_rgb": 329,
|
| 11 |
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"camera.left_wrist_0_rgb": 329,
|
| 12 |
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"camera.right_wrist_0_rgb": 328,
|
| 13 |
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"dropped": 0,
|
| 14 |
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"event.workflow": 1,
|
| 15 |
+
"items": 2617,
|
| 16 |
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"robot.robot_state": 1315
|
| 17 |
+
},
|
| 18 |
+
"dropped_incomplete_sensor_bundles": 0,
|
| 19 |
+
"duplicate_sensor_messages": 0,
|
| 20 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005",
|
| 21 |
+
"failure": "",
|
| 22 |
+
"metadata": {
|
| 23 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 24 |
+
"round_number": 5,
|
| 25 |
+
"run_id": "20260925_023836_347536_round_0005",
|
| 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": 1790275139.0185654
|
| 35 |
+
},
|
| 36 |
+
"prometheus_camera_left_wrist_0_recorder": {
|
| 37 |
+
"camera_frames": {
|
| 38 |
+
"left_wrist_0_rgb": 329
|
| 39 |
+
},
|
| 40 |
+
"camera_timestamp_samples": 329,
|
| 41 |
+
"complete_sensor_bundles": 329,
|
| 42 |
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"counts": {
|
| 43 |
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"action.executed": 315,
|
| 44 |
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"camera.base_0_rgb": 329,
|
| 45 |
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"camera.left_wrist_0_rgb": 329,
|
| 46 |
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"camera.right_wrist_0_rgb": 328,
|
| 47 |
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"dropped": 0,
|
| 48 |
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"event.workflow": 1,
|
| 49 |
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"items": 2617,
|
| 50 |
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|
| 51 |
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},
|
| 52 |
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|
| 53 |
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|
| 54 |
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"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005",
|
| 55 |
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"failure": "",
|
| 56 |
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"metadata": {
|
| 57 |
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"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 58 |
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"round_number": 5,
|
| 59 |
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"run_id": "20260925_023836_347536_round_0005",
|
| 60 |
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"workflow": "openpi_rollout"
|
| 61 |
+
},
|
| 62 |
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"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 63 |
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"record_mode": "sensor",
|
| 64 |
+
"schema": "prometheus_raw_episode_v1",
|
| 65 |
+
"sensor_kind": "camera",
|
| 66 |
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"sensor_name": "left_wrist_0",
|
| 67 |
+
"status": "saved",
|
| 68 |
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"updated_at_unix": 1790275139.0185654
|
| 69 |
+
},
|
| 70 |
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"prometheus_camera_right_wrist_0_recorder": {
|
| 71 |
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"camera_frames": {
|
| 72 |
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"right_wrist_0_rgb": 328
|
| 73 |
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},
|
| 74 |
+
"camera_timestamp_samples": 328,
|
| 75 |
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"complete_sensor_bundles": 328,
|
| 76 |
+
"counts": {
|
| 77 |
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"action.executed": 315,
|
| 78 |
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"camera.base_0_rgb": 329,
|
| 79 |
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"camera.left_wrist_0_rgb": 329,
|
| 80 |
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"camera.right_wrist_0_rgb": 328,
|
| 81 |
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"dropped": 0,
|
| 82 |
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"event.workflow": 1,
|
| 83 |
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"items": 2617,
|
| 84 |
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"robot.robot_state": 1315
|
| 85 |
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},
|
| 86 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 87 |
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"duplicate_sensor_messages": 0,
|
| 88 |
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"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005",
|
| 89 |
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"failure": "",
|
| 90 |
+
"metadata": {
|
| 91 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 92 |
+
"round_number": 5,
|
| 93 |
+
"run_id": "20260925_023836_347536_round_0005",
|
| 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": 1790275139.0185654
|
| 103 |
+
}
|
| 104 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_event_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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"camera.right_wrist_0_rgb": 328,
|
| 8 |
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"dropped": 0,
|
| 9 |
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|
| 10 |
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"items": 2617,
|
| 11 |
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|
| 12 |
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},
|
| 13 |
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"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005",
|
| 14 |
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"event_samples": 1,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 18 |
+
"round_number": 5,
|
| 19 |
+
"run_id": "20260925_023836_347536_round_0005",
|
| 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": 1790275139.0185654
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_robot_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 315,
|
| 5 |
+
"camera.base_0_rgb": 329,
|
| 6 |
+
"camera.left_wrist_0_rgb": 329,
|
| 7 |
+
"camera.right_wrist_0_rgb": 328,
|
| 8 |
+
"dropped": 0,
|
| 9 |
+
"event.workflow": 1,
|
| 10 |
+
"items": 2617,
|
| 11 |
+
"robot.robot_state": 1315
|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005",
|
| 14 |
+
"failure": "",
|
| 15 |
+
"incomplete_robot_samples": {
|
| 16 |
+
"left": 1315,
|
| 17 |
+
"right": 1315
|
| 18 |
+
},
|
| 19 |
+
"metadata": {
|
| 20 |
+
"purpose": "continuous cameras and robot state; retain failed/interrupted runs",
|
| 21 |
+
"round_number": 5,
|
| 22 |
+
"run_id": "20260925_023836_347536_round_0005",
|
| 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": 1315,
|
| 31 |
+
"right": 1315
|
| 32 |
+
},
|
| 33 |
+
"schema": "prometheus_raw_episode_v1",
|
| 34 |
+
"status": "saved",
|
| 35 |
+
"updated_at_unix": 1790275139.0185654
|
| 36 |
+
}
|
| 37 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0005/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
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"acceleration_limits": [
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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|
| 9 |
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| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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208.8803265352197,
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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|
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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"enabled": true,
|
| 52 |
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|
| 53 |
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},
|
| 54 |
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"data": {
|
| 55 |
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|
| 56 |
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"enabled": true,
|
| 57 |
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"name": "openpi_observe_20260925_023836_347536",
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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},
|
| 63 |
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|
| 64 |
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|
| 65 |
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"name": "openpi_data",
|
| 66 |
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|
| 67 |
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"enabled": true
|
| 68 |
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},
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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"enabled": true,
|
| 74 |
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|
| 75 |
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"output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data",
|
| 76 |
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"queue_size": 4096
|
| 77 |
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},
|
| 78 |
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|
| 79 |
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|
| 80 |
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"domain": "sensor",
|
| 81 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 82 |
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|
| 83 |
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"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 84 |
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},
|
| 85 |
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"left_wrist_0_color": {
|
| 86 |
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"domain": "sensor",
|
| 87 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 88 |
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|
| 89 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 90 |
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},
|
| 91 |
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|
| 92 |
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"domain": "sensor",
|
| 93 |
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|
| 94 |
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|
| 95 |
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
|
| 96 |
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},
|
| 97 |
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|
| 98 |
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"domain": "robot",
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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}
|
| 103 |
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}
|
| 104 |
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},
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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},
|
| 113 |
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|
| 114 |
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|
| 115 |
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"name": "openpi_hardware",
|
| 116 |
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|
| 117 |
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|
| 118 |
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},
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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"port": 8000,
|
| 126 |
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"prompt": "Use the right arm to pick up the apple and place it in the bowl.",
|
| 127 |
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|
| 128 |
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|
| 129 |
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},
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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"height": 720,
|
| 134 |
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"host": "127.0.0.1",
|
| 135 |
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"mode": "local",
|
| 136 |
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"port": 7860,
|
| 137 |
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|
| 138 |
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|
| 139 |
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"ui_mode": "openpi",
|
| 140 |
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"width": 1280,
|
| 141 |
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"window": "Pi0.5 - Async execution"
|
| 142 |
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},
|
| 143 |
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|
| 144 |
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"_target_": "prometheus.nodes.robots.yam.resolve_robot",
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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"ir": false,
|
| 152 |
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"prepub_resize": 1.0,
|
| 153 |
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"publish_hz": 30,
|
| 154 |
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"qos": "reliable",
|
| 155 |
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"serial_no": {
|
| 156 |
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"base_0": "260322272085",
|
| 157 |
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"left_wrist_0": "260422275825",
|
| 158 |
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"right_wrist_0": "260322279382"
|
| 159 |
+
}
|
| 160 |
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},
|
| 161 |
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"collection_input_source": "pedal,tty",
|
| 162 |
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"collection_pedal": {
|
| 163 |
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"confirm_presses": 2,
|
| 164 |
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"confirm_window_s": 1.0,
|
| 165 |
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"debounce_s": 0.05,
|
| 166 |
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"devices": [
|
| 167 |
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"/dev/input/prometheus-pedal",
|
| 168 |
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"/dev/input/prometheus-pedal-aux"
|
| 169 |
+
],
|
| 170 |
+
"exclusive": true,
|
| 171 |
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"pedal_map": {
|
| 172 |
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"2": 0,
|
| 173 |
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"3": 1,
|
| 174 |
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"4": 2,
|
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|
| 575 |
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|
| 576 |
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0.014345181323587895
|
| 577 |
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],
|
| 578 |
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"status": "completed",
|
| 579 |
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"task_success": true,
|
| 580 |
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"termination_reason": "operator_review",
|
| 581 |
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"tracking_error_limits": [
|
| 582 |
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|
| 583 |
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| 594 |
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|
| 595 |
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|
| 596 |
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|
| 597 |
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"velocity_limits": [
|
| 598 |
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| 599 |
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| 603 |
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|
| 611 |
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|
| 612 |
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]
|
| 613 |
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}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0006/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
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|
| 1 |
+
{
|
| 2 |
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"acceleration_limits": [
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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],
|
| 18 |
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|
| 19 |
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"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 73,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 18,
|
| 25 |
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"prediction_horizon": 30,
|
| 26 |
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"predictions_requested": 18,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 9,
|
| 32 |
+
"command_velocity_limits": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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11.822247140410347,
|
| 38 |
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21.729793477053846,
|
| 39 |
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4.549583926449072,
|
| 40 |
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9.542591565847905,
|
| 41 |
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|
| 42 |
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19.18122166486826,
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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],
|
| 48 |
+
"config": {
|
| 49 |
+
"async_inference": {
|
| 50 |
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"blend_steps": 5,
|
| 51 |
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"enabled": true,
|
| 52 |
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"prefetch_steps": 12
|
| 53 |
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},
|
| 54 |
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"data": {
|
| 55 |
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"bridge": {
|
| 56 |
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"enabled": true,
|
| 57 |
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"name": "openpi_observe_20260925_023836_347536",
|
| 58 |
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"qos_depth": 10,
|
| 59 |
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"sensor_qos": "reliable",
|
| 60 |
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"stamp_source": "header",
|
| 61 |
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"wait_all_streams": true
|
| 62 |
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},
|
| 63 |
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"history": 64,
|
| 64 |
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"mode": "owned",
|
| 65 |
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"name": "openpi_data",
|
| 66 |
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"numpy": {
|
| 67 |
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"enabled": true
|
| 68 |
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},
|
| 69 |
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"recording": {
|
| 70 |
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"camera_encoder": "libx264",
|
| 71 |
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"default_event_value": null,
|
| 72 |
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"enable_plots": false,
|
| 73 |
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"enabled": true,
|
| 74 |
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"fps": 30.0,
|
| 75 |
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"output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data",
|
| 76 |
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"queue_size": 4096
|
| 77 |
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},
|
| 78 |
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"streams": {
|
| 79 |
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"base_0_color": {
|
| 80 |
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"domain": "sensor",
|
| 81 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 82 |
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"ros_domain_id": 22,
|
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0007/workflow_manifest.json
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@@ -0,0 +1,613 @@
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0009/workflow_manifest.json
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@@ -0,0 +1,613 @@
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| 1 |
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|
| 1 |
+
{
|
| 2 |
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"acceleration_limits": [
|
| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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208.8803265352197,
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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"enabled": true,
|
| 52 |
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|
| 53 |
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},
|
| 54 |
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"data": {
|
| 55 |
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|
| 56 |
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|
| 57 |
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"name": "openpi_observe_20260925_024251_751456",
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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},
|
| 63 |
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|
| 64 |
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|
| 65 |
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"name": "openpi_data",
|
| 66 |
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|
| 67 |
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"enabled": true
|
| 68 |
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},
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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"output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data",
|
| 76 |
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|
| 77 |
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},
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 84 |
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},
|
| 85 |
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"left_wrist_0_color": {
|
| 86 |
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"domain": "sensor",
|
| 87 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 88 |
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|
| 89 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 90 |
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},
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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}
|
| 103 |
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}
|
| 104 |
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},
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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},
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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},
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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},
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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"mode": "local",
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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},
|
| 143 |
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|
| 144 |
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"_target_": "prometheus.nodes.robots.yam.resolve_robot",
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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"qos": "reliable",
|
| 155 |
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"serial_no": {
|
| 156 |
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"base_0": "260322272085",
|
| 157 |
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"left_wrist_0": "260422275825",
|
| 158 |
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"right_wrist_0": "260322279382"
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
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"collection_input_source": "pedal,tty",
|
| 162 |
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"collection_pedal": {
|
| 163 |
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"confirm_presses": 2,
|
| 164 |
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"confirm_window_s": 1.0,
|
| 165 |
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"debounce_s": 0.05,
|
| 166 |
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"devices": [
|
| 167 |
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"/dev/input/prometheus-pedal",
|
| 168 |
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"/dev/input/prometheus-pedal-aux"
|
| 169 |
+
],
|
| 170 |
+
"exclusive": true,
|
| 171 |
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"pedal_map": {
|
| 172 |
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"2": 0,
|
| 173 |
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"3": 1,
|
| 174 |
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"4": 2,
|
| 175 |
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"5": 3,
|
| 176 |
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"30": 0,
|
| 177 |
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"32": 3,
|
| 178 |
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"46": 2,
|
| 179 |
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"48": 1
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"control_domain_id": 21,
|
| 183 |
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"id": "yam",
|
| 184 |
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|
| 185 |
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"action_space": "abs_qpos",
|
| 186 |
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"alignment_duration_s": 3.0,
|
| 187 |
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"bilateral_kp": 0.0,
|
| 188 |
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"collection_mode": "policy",
|
| 189 |
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1.5542610847949982,
|
| 588 |
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0.13904411427676677,
|
| 589 |
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0.53632409773767,
|
| 590 |
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0.711245882511139,
|
| 591 |
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0.9085143971443176,
|
| 592 |
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0.6218586921691894,
|
| 593 |
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2.1306553721427917,
|
| 594 |
+
0.9146791793219745,
|
| 595 |
+
0.14422834947705268
|
| 596 |
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],
|
| 597 |
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"velocity_limits": [
|
| 598 |
+
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|
| 599 |
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7.554651925563812,
|
| 600 |
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9.670842275619506,
|
| 601 |
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10.588351378440857,
|
| 602 |
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8.72373610496521,
|
| 603 |
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13.252087483406067,
|
| 604 |
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1.2993822544813156,
|
| 605 |
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8.664541969299316,
|
| 606 |
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10.73633671760559,
|
| 607 |
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14.77633719921112,
|
| 608 |
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|
| 609 |
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20.799341225624083,
|
| 610 |
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7.747032866477967,
|
| 611 |
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1.3316887146234513
|
| 612 |
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]
|
| 613 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0011/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
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|
|
|
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|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
+
118.7426430016755,
|
| 4 |
+
165.012131490699,
|
| 5 |
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|
| 6 |
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274.86399842805685,
|
| 7 |
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195.25766555964873,
|
| 8 |
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454.5340796113012,
|
| 9 |
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109.40927818565227,
|
| 10 |
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178.49339036295515,
|
| 11 |
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476.6444930964641,
|
| 12 |
+
557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
+
],
|
| 18 |
+
"actions_sent": 502,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 127,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 30,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 31,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 16,
|
| 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_20260925_024251_751456",
|
| 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_gesim_v3_four_tasks_5000/pick_and_place_apple/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,
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0015/event/event_dict.pkl
ADDED
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Binary file (109 Bytes). View file
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0015/workflow_manifest.json
ADDED
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@@ -0,0 +1,613 @@
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0017/workflow_manifest.json
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@@ -0,0 +1,613 @@
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@@ -0,0 +1,613 @@
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|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 8 |
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|
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| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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208.8803265352197,
|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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"enabled": true,
|
| 52 |
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|
| 53 |
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},
|
| 54 |
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"data": {
|
| 55 |
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|
| 56 |
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|
| 57 |
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"name": "openpi_observe_20260925_025305_495514",
|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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},
|
| 63 |
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|
| 64 |
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|
| 65 |
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"name": "openpi_data",
|
| 66 |
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|
| 67 |
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"enabled": true
|
| 68 |
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},
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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"output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data",
|
| 76 |
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|
| 77 |
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},
|
| 78 |
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|
| 79 |
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|
| 80 |
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"domain": "sensor",
|
| 81 |
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|
| 82 |
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|
| 83 |
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"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 84 |
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},
|
| 85 |
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"left_wrist_0_color": {
|
| 86 |
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"domain": "sensor",
|
| 87 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 88 |
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|
| 89 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 90 |
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},
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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},
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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}
|
| 103 |
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}
|
| 104 |
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},
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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},
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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},
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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},
|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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},
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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"qos": "reliable",
|
| 155 |
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"serial_no": {
|
| 156 |
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"base_0": "260322272085",
|
| 157 |
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"left_wrist_0": "260422275825",
|
| 158 |
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"right_wrist_0": "260322279382"
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
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"collection_input_source": "pedal,tty",
|
| 162 |
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"collection_pedal": {
|
| 163 |
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"confirm_presses": 2,
|
| 164 |
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"confirm_window_s": 1.0,
|
| 165 |
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"debounce_s": 0.05,
|
| 166 |
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"devices": [
|
| 167 |
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"/dev/input/prometheus-pedal",
|
| 168 |
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"/dev/input/prometheus-pedal-aux"
|
| 169 |
+
],
|
| 170 |
+
"exclusive": true,
|
| 171 |
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"pedal_map": {
|
| 172 |
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"2": 0,
|
| 173 |
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"3": 1,
|
| 174 |
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"4": 2,
|
| 175 |
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"5": 3,
|
| 176 |
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"30": 0,
|
| 177 |
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"32": 3,
|
| 178 |
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"46": 2,
|
| 179 |
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"48": 1
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"control_domain_id": 21,
|
| 183 |
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"id": "yam",
|
| 184 |
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|
| 185 |
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"action_space": "abs_qpos",
|
| 186 |
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"alignment_duration_s": 3.0,
|
| 187 |
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"bilateral_kp": 0.0,
|
| 188 |
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"collection_mode": "policy",
|
| 189 |
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"control_hz": 120,
|
| 190 |
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"enable_auto_recovery": false,
|
| 191 |
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"follower_arm": "yam_ultra",
|
| 192 |
+
"follower_can": {
|
| 193 |
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"left": "can_follower_l",
|
| 194 |
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"right": "can_follower_r"
|
| 195 |
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},
|
| 196 |
+
"follower_gripper": "linear_4310",
|
| 197 |
+
"gripper_width_m": 0.096,
|
| 198 |
+
"home_return": {
|
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| 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_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0019/workflow_manifest.json
ADDED
|
@@ -0,0 +1,611 @@
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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": 1200,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 313,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 72,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 72,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 40,
|
| 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_20260925_025305_495514",
|
| 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_gesim_v3_four_tasks_5000/pick_and_place_apple/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,
|
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| 44 |
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{"event": "plan_adopted", "time_ns": 1790276386309823985, "actions_sent": 352, "prediction": 21, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.21661000233144, "blended_steps": 5}
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| 45 |
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{"event": "prediction_requested", "time_ns": 1790276386752163596, "actions_sent": 365, "prediction": 22, "queue_remaining": 12}
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| 46 |
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{"event": "plan_adopted", "time_ns": 1790276386858873953, "actions_sent": 368, "prediction": 22, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 123.10971500119194, "blended_steps": 5}
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| 47 |
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{"event": "prediction_requested", "time_ns": 1790276387330838993, "actions_sent": 382, "prediction": 23, "queue_remaining": 12}
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| 48 |
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{"event": "plan_adopted", "time_ns": 1790276387433256073, "actions_sent": 385, "prediction": 23, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 136.19253000069875, "blended_steps": 5}
|
| 49 |
+
{"event": "prediction_requested", "time_ns": 1790276387880212599, "actions_sent": 398, "prediction": 24, "queue_remaining": 12}
|
| 50 |
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{"event": "plan_adopted", "time_ns": 1790276387983356687, "actions_sent": 401, "prediction": 24, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 117.67714699089993, "blended_steps": 5}
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| 51 |
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{"event": "prediction_requested", "time_ns": 1790276388463470336, "actions_sent": 415, "prediction": 25, "queue_remaining": 12}
|
| 52 |
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{"event": "plan_adopted", "time_ns": 1790276388567252267, "actions_sent": 418, "prediction": 25, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 134.3357650039252, "blended_steps": 5}
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| 53 |
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{"event": "prediction_requested", "time_ns": 1790276389006815011, "actions_sent": 431, "prediction": 26, "queue_remaining": 12}
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| 54 |
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{"event": "plan_adopted", "time_ns": 1790276389113607677, "actions_sent": 434, "prediction": 26, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 144.58386998740025, "blended_steps": 5}
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{"event": "prediction_requested", "time_ns": 1790276389556991351, "actions_sent": 447, "prediction": 27, "queue_remaining": 12}
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| 56 |
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{"event": "plan_adopted", "time_ns": 1790276389663397875, "actions_sent": 450, "prediction": 27, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 128.6004079884151, "blended_steps": 5}
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| 57 |
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{"event": "prediction_requested", "time_ns": 1790276390137221408, "actions_sent": 464, "prediction": 28, "queue_remaining": 12}
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| 58 |
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{"event": "plan_adopted", "time_ns": 1790276390247092929, "actions_sent": 467, "prediction": 28, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 147.21069000370335, "blended_steps": 5}
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| 59 |
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{"event": "operator_stopped", "time_ns": 1790276390401342075, "actions_sent": 472, "result": "failure"}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/action.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
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|
| 1 |
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{
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| 2 |
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"prometheus_action_recorder": {
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| 3 |
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| 4 |
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| 5 |
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|
| 12 |
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| 13 |
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| 14 |
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| 15 |
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|
| 16 |
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| 17 |
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|
| 18 |
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|
| 19 |
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"run_id": "20260925_025917_045456_round_0022",
|
| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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}
|
| 29 |
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}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/camera.json
ADDED
|
@@ -0,0 +1,104 @@
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|
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|
|
|
|
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|
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|
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|
|
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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"metadata": {
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| 23 |
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| 24 |
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|
| 25 |
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| 26 |
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| 27 |
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},
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 39 |
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| 41 |
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| 58 |
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| 65 |
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| 67 |
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| 98 |
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| 101 |
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| 103 |
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| 104 |
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|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/event.json
ADDED
|
@@ -0,0 +1,28 @@
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| 1 |
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{
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| 18 |
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| 22 |
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| 23 |
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| 27 |
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|
| 28 |
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|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/robot.json
ADDED
|
@@ -0,0 +1,37 @@
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|
| 1 |
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{
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| 12 |
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},
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| 19 |
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| 21 |
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| 22 |
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| 24 |
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| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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| 33 |
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| 34 |
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|
| 35 |
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| 36 |
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|
| 37 |
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|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0022/workflow_manifest.json
ADDED
|
@@ -0,0 +1,613 @@
|
|
|
|
|
|
|
|
|
|
|
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|
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|
| 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": 472,
|
| 19 |
+
"async_execution": {
|
| 20 |
+
"blend_steps": 5,
|
| 21 |
+
"chunk_counter_meaning": "completed groups of 30 acknowledged targets",
|
| 22 |
+
"expired_prefix_actions": 126,
|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 29,
|
| 25 |
+
"prediction_horizon": 30,
|
| 26 |
+
"predictions_requested": 29,
|
| 27 |
+
"prefetch_steps": 12,
|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 15,
|
| 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_20260925_025917_045456",
|
| 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_gesim_v3_four_tasks_5000/pick_and_place_apple/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 apple and place it in the bowl.",
|
| 127 |
+
"response_timeout_s": 120.0,
|
| 128 |
+
"slop_ms": 20.0
|
| 129 |
+
},
|
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See raw diff
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{"event": "plan_adopted", "time_ns": 1790276479834873505, "actions_sent": 405, "prediction": 24, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 145.00607700028922, "blended_steps": 5}
|
| 51 |
+
{"event": "prediction_requested", "time_ns": 1790276480276096852, "actions_sent": 418, "prediction": 25, "queue_remaining": 12}
|
| 52 |
+
{"event": "plan_adopted", "time_ns": 1790276480380260606, "actions_sent": 421, "prediction": 25, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 124.50865100254305, "blended_steps": 5}
|
| 53 |
+
{"event": "prediction_requested", "time_ns": 1790276480857670065, "actions_sent": 435, "prediction": 26, "queue_remaining": 12}
|
| 54 |
+
{"event": "plan_adopted", "time_ns": 1790276480960155227, "actions_sent": 438, "prediction": 26, "queue_remaining": 25, "skipped_prefix": 5, "observation_age_ms": 138.53729600668885, "blended_steps": 5}
|
| 55 |
+
{"event": "prediction_requested", "time_ns": 1790276481403596131, "actions_sent": 451, "prediction": 27, "queue_remaining": 12}
|
| 56 |
+
{"event": "plan_adopted", "time_ns": 1790276481508425954, "actions_sent": 454, "prediction": 27, "queue_remaining": 26, "skipped_prefix": 4, "observation_age_ms": 119.0699750004569, "blended_steps": 5}
|
| 57 |
+
{"event": "operator_stopped", "time_ns": 1790276481574211361, "actions_sent": 456, "result": "success"}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/event/event_dict.pkl
ADDED
|
Binary file (109 Bytes). View file
|
|
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/action.json
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"prometheus_action_recorder": {
|
| 3 |
+
"counts": {
|
| 4 |
+
"action.executed": 456,
|
| 5 |
+
"camera.base_0_rgb": 479,
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"items": 3809,
|
| 11 |
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|
| 12 |
+
},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023",
|
| 14 |
+
"executed_actions": 456,
|
| 15 |
+
"failure": "",
|
| 16 |
+
"metadata": {
|
| 17 |
+
"round_number": 23,
|
| 18 |
+
"run_id": "20260925_025917_045456_round_0023",
|
| 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 |
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"status": "saved",
|
| 26 |
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"updated_at_unix": 1790276481.690456
|
| 27 |
+
}
|
| 28 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/camera.json
ADDED
|
@@ -0,0 +1,101 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"prometheus_camera_base_0_recorder": {
|
| 3 |
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"camera_frames": {
|
| 4 |
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|
| 5 |
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},
|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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"items": 3809,
|
| 16 |
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|
| 17 |
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},
|
| 18 |
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|
| 19 |
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|
| 20 |
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"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023",
|
| 21 |
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"failure": "",
|
| 22 |
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"metadata": {
|
| 23 |
+
"round_number": 23,
|
| 24 |
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"run_id": "20260925_025917_045456_round_0023",
|
| 25 |
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"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 |
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"sensor_name": "base_0",
|
| 32 |
+
"status": "saved",
|
| 33 |
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"updated_at_unix": 1790276481.690456
|
| 34 |
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},
|
| 35 |
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"prometheus_camera_left_wrist_0_recorder": {
|
| 36 |
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"camera_frames": {
|
| 37 |
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"left_wrist_0_rgb": 479
|
| 38 |
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},
|
| 39 |
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"camera_timestamp_samples": 479,
|
| 40 |
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|
| 41 |
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"counts": {
|
| 42 |
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|
| 43 |
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|
| 44 |
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| 45 |
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|
| 46 |
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|
| 47 |
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| 48 |
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"items": 3809,
|
| 49 |
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| 50 |
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},
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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"failure": "",
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| 55 |
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"metadata": {
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| 56 |
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|
| 57 |
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|
| 58 |
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"workflow": "openpi_rollout"
|
| 59 |
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},
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| 60 |
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"record_id": "prometheus_camera_left_wrist_0_recorder",
|
| 61 |
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"record_mode": "sensor",
|
| 62 |
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"schema": "prometheus_raw_episode_v1",
|
| 63 |
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"sensor_kind": "camera",
|
| 64 |
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"sensor_name": "left_wrist_0",
|
| 65 |
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"status": "saved",
|
| 66 |
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"updated_at_unix": 1790276481.690456
|
| 67 |
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},
|
| 68 |
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"prometheus_camera_right_wrist_0_recorder": {
|
| 69 |
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"camera_frames": {
|
| 70 |
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"right_wrist_0_rgb": 478
|
| 71 |
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},
|
| 72 |
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"camera_timestamp_samples": 478,
|
| 73 |
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"complete_sensor_bundles": 478,
|
| 74 |
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"counts": {
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| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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| 79 |
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| 80 |
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| 81 |
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"items": 3809,
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| 82 |
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| 83 |
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},
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| 84 |
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"dropped_incomplete_sensor_bundles": 0,
|
| 85 |
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"duplicate_sensor_messages": 0,
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| 86 |
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"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023",
|
| 87 |
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"failure": "",
|
| 88 |
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"metadata": {
|
| 89 |
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"round_number": 23,
|
| 90 |
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"run_id": "20260925_025917_045456_round_0023",
|
| 91 |
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"workflow": "openpi_rollout"
|
| 92 |
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},
|
| 93 |
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"record_id": "prometheus_camera_right_wrist_0_recorder",
|
| 94 |
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"record_mode": "sensor",
|
| 95 |
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"schema": "prometheus_raw_episode_v1",
|
| 96 |
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"sensor_kind": "camera",
|
| 97 |
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"sensor_name": "right_wrist_0",
|
| 98 |
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"status": "saved",
|
| 99 |
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"updated_at_unix": 1790276481.690456
|
| 100 |
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}
|
| 101 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/event.json
ADDED
|
@@ -0,0 +1,27 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
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{
|
| 2 |
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"prometheus_event_recorder": {
|
| 3 |
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"counts": {
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| 4 |
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|
| 5 |
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|
| 6 |
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|
| 8 |
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| 9 |
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|
| 10 |
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|
| 11 |
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|
| 12 |
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},
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| 13 |
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|
| 14 |
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|
| 15 |
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"failure": "",
|
| 16 |
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"metadata": {
|
| 17 |
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|
| 18 |
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"run_id": "20260925_025917_045456_round_0023",
|
| 19 |
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"workflow": "openpi_rollout"
|
| 20 |
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},
|
| 21 |
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"record_id": "prometheus_event_recorder",
|
| 22 |
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"record_mode": "event",
|
| 23 |
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"schema": "prometheus_raw_episode_v1",
|
| 24 |
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"status": "saved",
|
| 25 |
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"updated_at_unix": 1790276481.690456
|
| 26 |
+
}
|
| 27 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/robot.json
ADDED
|
@@ -0,0 +1,36 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
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"prometheus_robot_recorder": {
|
| 3 |
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"counts": {
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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"items": 3809,
|
| 11 |
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|
| 12 |
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},
|
| 13 |
+
"episode_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023",
|
| 14 |
+
"failure": "",
|
| 15 |
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"incomplete_robot_samples": {
|
| 16 |
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"left": 1916,
|
| 17 |
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"right": 1916
|
| 18 |
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},
|
| 19 |
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"metadata": {
|
| 20 |
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"round_number": 23,
|
| 21 |
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|
| 22 |
+
"workflow": "openpi_rollout"
|
| 23 |
+
},
|
| 24 |
+
"pending_robot_samples": 0,
|
| 25 |
+
"plot_outputs": [],
|
| 26 |
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"record_id": "prometheus_robot_recorder",
|
| 27 |
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"record_mode": "robot",
|
| 28 |
+
"robot_samples": {
|
| 29 |
+
"left": 1916,
|
| 30 |
+
"right": 1916
|
| 31 |
+
},
|
| 32 |
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"schema": "prometheus_raw_episode_v1",
|
| 33 |
+
"status": "saved",
|
| 34 |
+
"updated_at_unix": 1790276481.690456
|
| 35 |
+
}
|
| 36 |
+
}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/manifests/tactile.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{}
|
eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data/round_0023/workflow_manifest.json
ADDED
|
@@ -0,0 +1,614 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"acceleration_limits": [
|
| 3 |
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|
| 4 |
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| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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|
| 9 |
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|
| 10 |
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178.49339036295515,
|
| 11 |
+
476.6444930964641,
|
| 12 |
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557.9080874526715,
|
| 13 |
+
587.1810202100611,
|
| 14 |
+
362.1711802492357,
|
| 15 |
+
208.8803265352197,
|
| 16 |
+
208.9010343469399
|
| 17 |
+
],
|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
+
"mode": "async_overlap",
|
| 24 |
+
"plans_adopted": 28,
|
| 25 |
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"prediction_horizon": 30,
|
| 26 |
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|
| 27 |
+
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|
| 28 |
+
"queue_underruns": 0,
|
| 29 |
+
"target_budget": 1200
|
| 30 |
+
},
|
| 31 |
+
"chunks": 15,
|
| 32 |
+
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|
| 33 |
+
"command_velocity_limits": [
|
| 34 |
+
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"config": {
|
| 50 |
+
"async_inference": {
|
| 51 |
+
"blend_steps": 5,
|
| 52 |
+
"enabled": true,
|
| 53 |
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|
| 54 |
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},
|
| 55 |
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"data": {
|
| 56 |
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"bridge": {
|
| 57 |
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"enabled": true,
|
| 58 |
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"name": "openpi_observe_20260925_025917_045456",
|
| 59 |
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"qos_depth": 10,
|
| 60 |
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|
| 61 |
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"stamp_source": "header",
|
| 62 |
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"wait_all_streams": true
|
| 63 |
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},
|
| 64 |
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"history": 64,
|
| 65 |
+
"mode": "owned",
|
| 66 |
+
"name": "openpi_data",
|
| 67 |
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"numpy": {
|
| 68 |
+
"enabled": true
|
| 69 |
+
},
|
| 70 |
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"recording": {
|
| 71 |
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"camera_encoder": "libx264",
|
| 72 |
+
"default_event_value": null,
|
| 73 |
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|
| 74 |
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"enabled": true,
|
| 75 |
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"fps": 30.0,
|
| 76 |
+
"output_dir": "outputs/openpi_rollout/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/data",
|
| 77 |
+
"queue_size": 4096
|
| 78 |
+
},
|
| 79 |
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"streams": {
|
| 80 |
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"base_0_color": {
|
| 81 |
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"domain": "sensor",
|
| 82 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 83 |
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"ros_domain_id": 22,
|
| 84 |
+
"topic": "/prometheus/sensors/cameras/base_0/color/image_raw"
|
| 85 |
+
},
|
| 86 |
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"left_wrist_0_color": {
|
| 87 |
+
"domain": "sensor",
|
| 88 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 89 |
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"ros_domain_id": 22,
|
| 90 |
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"topic": "/prometheus/sensors/cameras/left_wrist_0/color/image_raw"
|
| 91 |
+
},
|
| 92 |
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"right_wrist_0_color": {
|
| 93 |
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"domain": "sensor",
|
| 94 |
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"msg_type": "sensor_msgs.msg.Image",
|
| 95 |
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|
| 96 |
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"topic": "/prometheus/sensors/cameras/right_wrist_0/color/image_raw"
|
| 97 |
+
},
|
| 98 |
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"robot_state": {
|
| 99 |
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"domain": "robot",
|
| 100 |
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"msg_type": "sensor_msgs.msg.JointState",
|
| 101 |
+
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|
| 102 |
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"topic": "/prometheus/robots/yam/state"
|
| 103 |
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}
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"execute": true,
|
| 107 |
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"execution": {
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
+
},
|
| 114 |
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|
| 115 |
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"mode": "owned",
|
| 116 |
+
"name": "openpi_hardware",
|
| 117 |
+
"sensors": "auto",
|
| 118 |
+
"streams": "auto"
|
| 119 |
+
},
|
| 120 |
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"policy": {
|
| 121 |
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"action_hz": 30.0,
|
| 122 |
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|
| 123 |
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"host": "127.0.0.1",
|
| 124 |
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|
| 125 |
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|
| 126 |
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"port": 8000,
|
| 127 |
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"prompt": "Use the right arm to pick up the apple and place it in the bowl.",
|
| 128 |
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|
| 129 |
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|
| 130 |
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},
|
| 131 |
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"preview": {
|
| 132 |
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"enabled": true,
|
| 133 |
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|
| 134 |
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"height": 720,
|
| 135 |
+
"host": "127.0.0.1",
|
| 136 |
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"mode": "local",
|
| 137 |
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"port": 7860,
|
| 138 |
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|
| 139 |
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|
| 140 |
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"ui_mode": "openpi",
|
| 141 |
+
"width": 1280,
|
| 142 |
+
"window": "Pi0.5 - Async execution"
|
| 143 |
+
},
|
| 144 |
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"robot": {
|
| 145 |
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"_target_": "prometheus.nodes.robots.yam.resolve_robot",
|
| 146 |
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|
| 147 |
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"camera_info": false,
|
| 148 |
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"capture_height": 480,
|
| 149 |
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|
| 150 |
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"capture_width": 640,
|
| 151 |
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"collect_ir": false,
|
| 152 |
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"ir": false,
|
| 153 |
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"prepub_resize": 1.0,
|
| 154 |
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"publish_hz": 30,
|
| 155 |
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"qos": "reliable",
|
| 156 |
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"serial_no": {
|
| 157 |
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"base_0": "260322272085",
|
| 158 |
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"left_wrist_0": "260422275825",
|
| 159 |
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"right_wrist_0": "260322279382"
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"collection_input_source": "pedal,tty",
|
| 163 |
+
"collection_pedal": {
|
| 164 |
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"confirm_presses": 2,
|
| 165 |
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"confirm_window_s": 1.0,
|
| 166 |
+
"debounce_s": 0.05,
|
| 167 |
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"devices": [
|
| 168 |
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"/dev/input/prometheus-pedal",
|
| 169 |
+
"/dev/input/prometheus-pedal-aux"
|
| 170 |
+
],
|
| 171 |
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eval/YAM/V3/pi0_gesim_v3_four_tasks_5000/pick_and_place_apple/metadata/rounds.json
ADDED
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@@ -0,0 +1,195 @@
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