| { |
| "status": "validated_with_openpi_loader", |
| "dataset_name": "sim_ep_03", |
| "camera_roles": [ |
| "wall", |
| "wrist", |
| "body_forward" |
| ], |
| "fps": 15.0, |
| "action_horizon": 50, |
| "accepted": [ |
| { |
| "key": "episode0000_variation00", |
| "source_episode": 0, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0000/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0000/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 225, |
| "surroundings_displacement_m": { |
| "rack": 0.00039617317510305764, |
| "yellow_0": 0.0, |
| "clutter_0": 0.0, |
| "clutter_1": 7.751655092467511e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0000/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0000/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 225, |
| "surroundings_displacement_m": { |
| "rack": 0.00039617317510305764, |
| "yellow_0": 0.0, |
| "clutter_0": 0.0, |
| "clutter_1": 7.751655092467511e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0000/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0000/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 225, |
| "surroundings_displacement_m": { |
| "rack": 0.00039617317510305764, |
| "yellow_0": 0.0, |
| "clutter_0": 0.0, |
| "clutter_1": 7.751655092467511e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 0 |
| }, |
| { |
| "key": "episode0001_variation00", |
| "source_episode": 1, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0001/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0001/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 214, |
| "surroundings_displacement_m": { |
| "rack": 0.00047305927896003504, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 1.2994803655518858e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0001/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0001/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 214, |
| "surroundings_displacement_m": { |
| "rack": 0.00047305927896003504, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 1.2994803655518858e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0001/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0001/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 214, |
| "surroundings_displacement_m": { |
| "rack": 0.00047305927896003504, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 1.2994803655518858e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 1 |
| }, |
| { |
| "key": "episode0002_variation00", |
| "source_episode": 2, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0002/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0002/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 229, |
| "surroundings_displacement_m": { |
| "rack": 2.794202258279848e-05, |
| "yellow_0": 6.664001874625056e-08, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 9.424321830774485e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0002/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0002/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 229, |
| "surroundings_displacement_m": { |
| "rack": 2.794202258279848e-05, |
| "yellow_0": 6.664001874625056e-08, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 9.424321830774485e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0002/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0002/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 229, |
| "surroundings_displacement_m": { |
| "rack": 2.794202258279848e-05, |
| "yellow_0": 6.664001874625056e-08, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 9.424321830774485e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 2 |
| }, |
| { |
| "key": "episode0003_variation00", |
| "source_episode": 3, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0003/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0003/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 234, |
| "surroundings_displacement_m": { |
| "rack": 0.00029333626168183614, |
| "clutter_0": 0.0, |
| "clutter_1": 2.1073424255447017e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0003/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0003/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 234, |
| "surroundings_displacement_m": { |
| "rack": 0.00029333626168183614, |
| "clutter_0": 0.0, |
| "clutter_1": 2.1073424255447017e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0003/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0003/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 234, |
| "surroundings_displacement_m": { |
| "rack": 0.00029333626168183614, |
| "clutter_0": 0.0, |
| "clutter_1": 2.1073424255447017e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 3 |
| }, |
| { |
| "key": "episode0004_variation00", |
| "source_episode": 4, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0004/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0004/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 216, |
| "surroundings_displacement_m": { |
| "rack": 7.25176308143711e-05, |
| "clutter_0": 5.960464477539063e-08, |
| "clutter_1": 6.322027276634104e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0004/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0004/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 216, |
| "surroundings_displacement_m": { |
| "rack": 7.25176308143711e-05, |
| "clutter_0": 5.960464477539063e-08, |
| "clutter_1": 6.322027276634104e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0004/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0004/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 216, |
| "surroundings_displacement_m": { |
| "rack": 7.25176308143711e-05, |
| "clutter_0": 5.960464477539063e-08, |
| "clutter_1": 6.322027276634104e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 4 |
| }, |
| { |
| "key": "episode0005_variation00", |
| "source_episode": 5, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0005/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0005/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 231, |
| "surroundings_displacement_m": { |
| "rack": 6.903199142219267e-06, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 3.2985126407710693e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0005/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0005/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 231, |
| "surroundings_displacement_m": { |
| "rack": 6.903199142219267e-06, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 3.2985126407710693e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0005/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0005/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 231, |
| "surroundings_displacement_m": { |
| "rack": 6.903199142219267e-06, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 3.2985126407710693e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 5 |
| }, |
| { |
| "key": "episode0006_variation00", |
| "source_episode": 6, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0006/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0006/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 238, |
| "surroundings_displacement_m": { |
| "rack": 3.071508176613743e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 2.0914776396182476e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0006/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0006/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 238, |
| "surroundings_displacement_m": { |
| "rack": 3.071508176613743e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 2.0914776396182476e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0006/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0006/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 238, |
| "surroundings_displacement_m": { |
| "rack": 3.071508176613743e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 2.0914776396182476e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 6 |
| }, |
| { |
| "key": "episode0008_variation00", |
| "source_episode": 8, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0008/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0008/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 238, |
| "surroundings_displacement_m": { |
| "rack": 8.19383734853595e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 4.888035154165022e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0008/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0008/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 238, |
| "surroundings_displacement_m": { |
| "rack": 8.19383734853595e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 4.888035154165022e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0008/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0008/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 238, |
| "surroundings_displacement_m": { |
| "rack": 8.19383734853595e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 4.888035154165022e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 7 |
| }, |
| { |
| "key": "episode0009_variation00", |
| "source_episode": 9, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0009/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0009/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 231, |
| "surroundings_displacement_m": { |
| "rack": 6.4697986528355295e-06, |
| "yellow_0": 7.450580596923828e-08, |
| "clutter_0": 5.960464477539063e-08, |
| "clutter_1": 1.4615297121094738e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0009/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0009/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 231, |
| "surroundings_displacement_m": { |
| "rack": 6.4697986528355295e-06, |
| "yellow_0": 7.450580596923828e-08, |
| "clutter_0": 5.960464477539063e-08, |
| "clutter_1": 1.4615297121094738e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0009/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0009/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 231, |
| "surroundings_displacement_m": { |
| "rack": 6.4697986528355295e-06, |
| "yellow_0": 7.450580596923828e-08, |
| "clutter_0": 5.960464477539063e-08, |
| "clutter_1": 1.4615297121094738e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 8 |
| }, |
| { |
| "key": "episode0010_variation00", |
| "source_episode": 10, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0010/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0010/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 205, |
| "surroundings_displacement_m": { |
| "rack": 3.6695517270014155e-05, |
| "clutter_0": 1.2013700229374393e-07, |
| "clutter_1": 2.146025897036211e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0010/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0010/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 205, |
| "surroundings_displacement_m": { |
| "rack": 3.6695517270014155e-05, |
| "clutter_0": 1.2013700229374393e-07, |
| "clutter_1": 2.146025897036211e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0010/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0010/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 205, |
| "surroundings_displacement_m": { |
| "rack": 3.6695517270014155e-05, |
| "clutter_0": 1.2013700229374393e-07, |
| "clutter_1": 2.146025897036211e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 9 |
| }, |
| { |
| "key": "episode0011_variation00", |
| "source_episode": 11, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0011/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0011/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 235, |
| "surroundings_displacement_m": { |
| "rack": 2.151849570422788e-05, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 9.06402249678704e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0011/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0011/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 235, |
| "surroundings_displacement_m": { |
| "rack": 2.151849570422788e-05, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 9.06402249678704e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0011/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0011/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 235, |
| "surroundings_displacement_m": { |
| "rack": 2.151849570422788e-05, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 9.06402249678704e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 10 |
| }, |
| { |
| "key": "episode0012_variation00", |
| "source_episode": 12, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0012/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0012/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 0.00045329794863342054, |
| "clutter_0": 2.1073424255447017e-08, |
| "clutter_1": 2.5136739623304215e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0012/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0012/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 0.00045329794863342054, |
| "clutter_0": 2.1073424255447017e-08, |
| "clutter_1": 2.5136739623304215e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0012/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0012/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 0.00045329794863342054, |
| "clutter_0": 2.1073424255447017e-08, |
| "clutter_1": 2.5136739623304215e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 11 |
| }, |
| { |
| "key": "episode0013_variation00", |
| "source_episode": 13, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0013/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0013/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 0.0002047166722403772, |
| "clutter_0": 4.2146848510894035e-08, |
| "clutter_1": 6.143906154658885e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0013/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0013/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 0.0002047166722403772, |
| "clutter_0": 4.2146848510894035e-08, |
| "clutter_1": 6.143906154658885e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0013/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0013/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 0.0002047166722403772, |
| "clutter_0": 4.2146848510894035e-08, |
| "clutter_1": 6.143906154658885e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 12 |
| }, |
| { |
| "key": "episode0015_variation00", |
| "source_episode": 15, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0015/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0015/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 241, |
| "surroundings_displacement_m": { |
| "rack": 0.00049048275355368, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 3.5886748369909214e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0015/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0015/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 241, |
| "surroundings_displacement_m": { |
| "rack": 0.00049048275355368, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 3.5886748369909214e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0015/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0015/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 241, |
| "surroundings_displacement_m": { |
| "rack": 0.00049048275355368, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 3.5886748369909214e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 13 |
| }, |
| { |
| "key": "episode0016_variation00", |
| "source_episode": 16, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0016/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0016/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 245, |
| "surroundings_displacement_m": { |
| "rack": 0.0004128413843728706, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 1.1170902737373897e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0016/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0016/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 245, |
| "surroundings_displacement_m": { |
| "rack": 0.0004128413843728706, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 1.1170902737373897e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0016/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0016/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 245, |
| "surroundings_displacement_m": { |
| "rack": 0.0004128413843728706, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 1.1170902737373897e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 14 |
| }, |
| { |
| "key": "episode0017_variation00", |
| "source_episode": 17, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0017/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0017/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 234, |
| "surroundings_displacement_m": { |
| "rack": 0.0003318875156608543, |
| "clutter_0": 0.0, |
| "clutter_1": 1.6118070224511577e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0017/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0017/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 234, |
| "surroundings_displacement_m": { |
| "rack": 0.0003318875156608543, |
| "clutter_0": 0.0, |
| "clutter_1": 1.6118070224511577e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0017/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0017/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 234, |
| "surroundings_displacement_m": { |
| "rack": 0.0003318875156608543, |
| "clutter_0": 0.0, |
| "clutter_1": 1.6118070224511577e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 15 |
| }, |
| { |
| "key": "episode0018_variation00", |
| "source_episode": 18, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0018/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0018/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 258, |
| "surroundings_displacement_m": { |
| "rack": 0.0005620696045581351, |
| "clutter_0": 0.0, |
| "clutter_1": 1.6083862668993457e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0018/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0018/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 258, |
| "surroundings_displacement_m": { |
| "rack": 0.0005620696045581351, |
| "clutter_0": 0.0, |
| "clutter_1": 1.6083862668993457e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0018/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0018/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 258, |
| "surroundings_displacement_m": { |
| "rack": 0.0005620696045581351, |
| "clutter_0": 0.0, |
| "clutter_1": 1.6083862668993457e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 16 |
| }, |
| { |
| "key": "episode0019_variation00", |
| "source_episode": 19, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0019/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0019/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 252, |
| "surroundings_displacement_m": { |
| "rack": 0.000700321892544181, |
| "clutter_0": 4.712160915387242e-08, |
| "clutter_1": 3.2098083538618706e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0019/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0019/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 252, |
| "surroundings_displacement_m": { |
| "rack": 0.000700321892544181, |
| "clutter_0": 4.712160915387242e-08, |
| "clutter_1": 3.2098083538618706e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0019/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0019/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 252, |
| "surroundings_displacement_m": { |
| "rack": 0.000700321892544181, |
| "clutter_0": 4.712160915387242e-08, |
| "clutter_1": 3.2098083538618706e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 17 |
| }, |
| { |
| "key": "episode0020_variation00", |
| "source_episode": 20, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0020/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0020/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 0.00015945786901012027, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 2.3466372114455137e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0020/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0020/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 0.00015945786901012027, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 2.3466372114455137e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0020/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0020/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 0.00015945786901012027, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 2.3466372114455137e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 18 |
| }, |
| { |
| "key": "episode0022_variation00", |
| "source_episode": 22, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0022/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0022/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 0.00010341345748396811, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 5.470979139413184e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0022/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0022/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 0.00010341345748396811, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 5.470979139413184e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0022/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0022/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 0.00010341345748396811, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 5.470979139413184e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 19 |
| }, |
| { |
| "key": "episode0023_variation00", |
| "source_episode": 23, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0023/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0023/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 234, |
| "surroundings_displacement_m": { |
| "rack": 4.722456107205395e-05, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 9.182066025140223e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0023/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0023/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 234, |
| "surroundings_displacement_m": { |
| "rack": 4.722456107205395e-05, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 9.182066025140223e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0023/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0023/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 234, |
| "surroundings_displacement_m": { |
| "rack": 4.722456107205395e-05, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 9.182066025140223e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 20 |
| }, |
| { |
| "key": "episode0024_variation00", |
| "source_episode": 24, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0024/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0024/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 229, |
| "surroundings_displacement_m": { |
| "rack": 0.0001199070021484798, |
| "clutter_0": 6.155189738369847e-08, |
| "clutter_1": 4.470348358154297e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0024/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0024/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 229, |
| "surroundings_displacement_m": { |
| "rack": 0.0001199070021484798, |
| "clutter_0": 6.155189738369847e-08, |
| "clutter_1": 4.470348358154297e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0024/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0024/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 229, |
| "surroundings_displacement_m": { |
| "rack": 0.0001199070021484798, |
| "clutter_0": 6.155189738369847e-08, |
| "clutter_1": 4.470348358154297e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 21 |
| }, |
| { |
| "key": "episode0025_variation00", |
| "source_episode": 25, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0025/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0025/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 8.062363985824125e-05, |
| "clutter_0": 0.0, |
| "clutter_1": 2.384185791015625e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0025/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0025/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 8.062363985824125e-05, |
| "clutter_0": 0.0, |
| "clutter_1": 2.384185791015625e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0025/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0025/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 8.062363985824125e-05, |
| "clutter_0": 0.0, |
| "clutter_1": 2.384185791015625e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 22 |
| }, |
| { |
| "key": "episode0026_variation00", |
| "source_episode": 26, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0026/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0026/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 6.675296709494414e-05, |
| "clutter_0": 5.960464477539063e-08, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0026/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0026/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 6.675296709494414e-05, |
| "clutter_0": 5.960464477539063e-08, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0026/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0026/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 226, |
| "surroundings_displacement_m": { |
| "rack": 6.675296709494414e-05, |
| "clutter_0": 5.960464477539063e-08, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 23 |
| }, |
| { |
| "key": "episode0027_variation00", |
| "source_episode": 27, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0027/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0027/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 0.0001593342320958125, |
| "clutter_0": 7.450580596923828e-09, |
| "clutter_1": 1.7664005175515942e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0027/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0027/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 0.0001593342320958125, |
| "clutter_0": 7.450580596923828e-09, |
| "clutter_1": 1.7664005175515942e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0027/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0027/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 0.0001593342320958125, |
| "clutter_0": 7.450580596923828e-09, |
| "clutter_1": 1.7664005175515942e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 24 |
| }, |
| { |
| "key": "episode0029_variation00", |
| "source_episode": 29, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0029/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0029/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 222, |
| "surroundings_displacement_m": { |
| "rack": 6.615527887813375e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 1.1920928955078125e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0029/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0029/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 222, |
| "surroundings_displacement_m": { |
| "rack": 6.615527887813375e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 1.1920928955078125e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0029/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0029/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 222, |
| "surroundings_displacement_m": { |
| "rack": 6.615527887813375e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 1.1920928955078125e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 25 |
| }, |
| { |
| "key": "episode0030_variation00", |
| "source_episode": 30, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0030/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0030/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 232, |
| "surroundings_displacement_m": { |
| "rack": 8.135425149718384e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 0.0 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0030/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0030/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 232, |
| "surroundings_displacement_m": { |
| "rack": 8.135425149718384e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 0.0 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0030/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0030/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 232, |
| "surroundings_displacement_m": { |
| "rack": 8.135425149718384e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 0.0 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 26 |
| }, |
| { |
| "key": "episode0031_variation00", |
| "source_episode": 31, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0031/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0031/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 227, |
| "surroundings_displacement_m": { |
| "rack": 5.632069317412327e-05, |
| "clutter_0": 0.0, |
| "clutter_1": 1.4417210363670282e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0031/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0031/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 227, |
| "surroundings_displacement_m": { |
| "rack": 5.632069317412327e-05, |
| "clutter_0": 0.0, |
| "clutter_1": 1.4417210363670282e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0031/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0031/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 227, |
| "surroundings_displacement_m": { |
| "rack": 5.632069317412327e-05, |
| "clutter_0": 0.0, |
| "clutter_1": 1.4417210363670282e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 27 |
| }, |
| { |
| "key": "episode0032_variation00", |
| "source_episode": 32, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0032/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0032/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 216, |
| "surroundings_displacement_m": { |
| "rack": 7.197368150745157e-05, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 7.450580596923828e-09 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0032/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0032/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 216, |
| "surroundings_displacement_m": { |
| "rack": 7.197368150745157e-05, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 7.450580596923828e-09 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0032/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0032/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 216, |
| "surroundings_displacement_m": { |
| "rack": 7.197368150745157e-05, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 7.450580596923828e-09 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 28 |
| }, |
| { |
| "key": "episode0033_variation00", |
| "source_episode": 33, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0033/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0033/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 212, |
| "surroundings_displacement_m": { |
| "rack": 0.00011357585296861258, |
| "clutter_0": 8.429369702178807e-08, |
| "clutter_1": 3.5762786865234375e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0033/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0033/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 212, |
| "surroundings_displacement_m": { |
| "rack": 0.00011357585296861258, |
| "clutter_0": 8.429369702178807e-08, |
| "clutter_1": 3.5762786865234375e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0033/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0033/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 212, |
| "surroundings_displacement_m": { |
| "rack": 0.00011357585296861258, |
| "clutter_0": 8.429369702178807e-08, |
| "clutter_1": 3.5762786865234375e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 29 |
| }, |
| { |
| "key": "episode0034_variation00", |
| "source_episode": 34, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0034/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0034/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 238, |
| "surroundings_displacement_m": { |
| "rack": 0.0004283268594398955, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 4.805480091749757e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0034/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0034/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 238, |
| "surroundings_displacement_m": { |
| "rack": 0.0004283268594398955, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 4.805480091749757e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0034/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0034/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 238, |
| "surroundings_displacement_m": { |
| "rack": 0.0004283268594398955, |
| "clutter_0": 1.4901161193847656e-08, |
| "clutter_1": 4.805480091749757e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 30 |
| }, |
| { |
| "key": "episode0036_variation00", |
| "source_episode": 36, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0036/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0036/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 0.00019030027304608194, |
| "clutter_0": 0.0, |
| "clutter_1": 0.0 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0036/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0036/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 0.00019030027304608194, |
| "clutter_0": 0.0, |
| "clutter_1": 0.0 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0036/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0036/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 230, |
| "surroundings_displacement_m": { |
| "rack": 0.00019030027304608194, |
| "clutter_0": 0.0, |
| "clutter_1": 0.0 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 31 |
| }, |
| { |
| "key": "episode0037_variation00", |
| "source_episode": 37, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0037/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0037/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 242, |
| "surroundings_displacement_m": { |
| "rack": 0.0002945989729153636, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0037/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0037/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 242, |
| "surroundings_displacement_m": { |
| "rack": 0.0002945989729153636, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0037/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0037/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 242, |
| "surroundings_displacement_m": { |
| "rack": 0.0002945989729153636, |
| "clutter_0": 6.143906154658885e-08, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 32 |
| }, |
| { |
| "key": "episode0038_variation00", |
| "source_episode": 38, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0038/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0038/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 236, |
| "surroundings_displacement_m": { |
| "rack": 0.00023992183935101792, |
| "clutter_0": 9.313225746154785e-10, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0038/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0038/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 236, |
| "surroundings_displacement_m": { |
| "rack": 0.00023992183935101792, |
| "clutter_0": 9.313225746154785e-10, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0038/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0038/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 236, |
| "surroundings_displacement_m": { |
| "rack": 0.00023992183935101792, |
| "clutter_0": 9.313225746154785e-10, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 33 |
| }, |
| { |
| "key": "episode0039_variation00", |
| "source_episode": 39, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0039/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0039/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 240, |
| "surroundings_displacement_m": { |
| "rack": 0.00022187503871719377, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 7.450580596923828e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0039/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0039/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 240, |
| "surroundings_displacement_m": { |
| "rack": 0.00022187503871719377, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 7.450580596923828e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0039/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0039/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 240, |
| "surroundings_displacement_m": { |
| "rack": 0.00022187503871719377, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 7.450580596923828e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 34 |
| }, |
| { |
| "key": "episode0040_variation00", |
| "source_episode": 40, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0040/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0040/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 231, |
| "surroundings_displacement_m": { |
| "rack": 0.0002920114831196409, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0040/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0040/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 231, |
| "surroundings_displacement_m": { |
| "rack": 0.0002920114831196409, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0040/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0040/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 231, |
| "surroundings_displacement_m": { |
| "rack": 0.0002920114831196409, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 3.332000937312528e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 35 |
| }, |
| { |
| "key": "episode0041_variation00", |
| "source_episode": 41, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0041/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0041/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 228, |
| "surroundings_displacement_m": { |
| "rack": 0.0001461015968946224, |
| "clutter_0": 5.3726900748371916e-08, |
| "clutter_1": 6.828569911354542e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0041/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0041/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 228, |
| "surroundings_displacement_m": { |
| "rack": 0.0001461015968946224, |
| "clutter_0": 5.3726900748371916e-08, |
| "clutter_1": 6.828569911354542e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0041/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0041/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 228, |
| "surroundings_displacement_m": { |
| "rack": 0.0001461015968946224, |
| "clutter_0": 5.3726900748371916e-08, |
| "clutter_1": 6.828569911354542e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 36 |
| }, |
| { |
| "key": "episode0042_variation00", |
| "source_episode": 42, |
| "variation": 0, |
| "split": "train", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0042/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0042/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 218, |
| "surroundings_displacement_m": { |
| "rack": 0.00017299507628490207, |
| "clutter_0": 6.322027276634104e-08, |
| "clutter_1": 2.1542358837725164e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0042/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0042/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 218, |
| "surroundings_displacement_m": { |
| "rack": 0.00017299507628490207, |
| "clutter_0": 6.322027276634104e-08, |
| "clutter_1": 2.1542358837725164e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0042/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0042/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 218, |
| "surroundings_displacement_m": { |
| "rack": 0.00017299507628490207, |
| "clutter_0": 6.322027276634104e-08, |
| "clutter_1": 2.1542358837725164e-07 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_train", |
| "episode_index": 37 |
| }, |
| { |
| "key": "episode0007_variation00", |
| "source_episode": 7, |
| "variation": 0, |
| "split": "validation", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0007/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0007/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 235, |
| "surroundings_displacement_m": { |
| "rack": 1.7883787159464616e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 9.06402249678704e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0007/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0007/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 235, |
| "surroundings_displacement_m": { |
| "rack": 1.7883787159464616e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 9.06402249678704e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0007/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0007/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 235, |
| "surroundings_displacement_m": { |
| "rack": 1.7883787159464616e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 9.06402249678704e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_validation", |
| "episode_index": 0 |
| }, |
| { |
| "key": "episode0014_variation00", |
| "source_episode": 14, |
| "variation": 0, |
| "split": "validation", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0014/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0014/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 245, |
| "surroundings_displacement_m": { |
| "rack": 0.0005355222156524206, |
| "clutter_0": 0.0, |
| "clutter_1": 2.9802322387695312e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0014/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0014/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 245, |
| "surroundings_displacement_m": { |
| "rack": 0.0005355222156524206, |
| "clutter_0": 0.0, |
| "clutter_1": 2.9802322387695312e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0014/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0014/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 245, |
| "surroundings_displacement_m": { |
| "rack": 0.0005355222156524206, |
| "clutter_0": 0.0, |
| "clutter_1": 2.9802322387695312e-08 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_validation", |
| "episode_index": 1 |
| }, |
| { |
| "key": "episode0021_variation00", |
| "source_episode": 21, |
| "variation": 0, |
| "split": "validation", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 0, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0021/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0021/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 227, |
| "surroundings_displacement_m": { |
| "rack": 7.941793444295066e-05, |
| "clutter_0": 4.2146848510894035e-08, |
| "clutter_1": 1.5078914929239175e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0021/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0021/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 227, |
| "surroundings_displacement_m": { |
| "rack": 7.941793444295066e-05, |
| "clutter_0": 4.2146848510894035e-08, |
| "clutter_1": 1.5078914929239175e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0021/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0021/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 227, |
| "surroundings_displacement_m": { |
| "rack": 7.941793444295066e-05, |
| "clutter_0": 4.2146848510894035e-08, |
| "clutter_1": 1.5078914929239175e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_validation", |
| "episode_index": 2 |
| }, |
| { |
| "key": "episode0028_variation00", |
| "source_episode": 28, |
| "variation": 0, |
| "split": "validation", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0028/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0028/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 224, |
| "surroundings_displacement_m": { |
| "rack": 6.611118616220012e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 5.034409739896793e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0028/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0028/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 224, |
| "surroundings_displacement_m": { |
| "rack": 6.611118616220012e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 5.034409739896793e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0028/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0028/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 224, |
| "surroundings_displacement_m": { |
| "rack": 6.611118616220012e-05, |
| "clutter_0": 2.9802322387695312e-08, |
| "clutter_1": 5.034409739896793e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_validation", |
| "episode_index": 3 |
| }, |
| { |
| "key": "episode0035_variation00", |
| "source_episode": 35, |
| "variation": 0, |
| "split": "validation", |
| "validation_profile": "clutter_expert", |
| "strategy": "state_feedback_pick_place", |
| "gpu": 1, |
| "accepted": true, |
| "attempts": [ |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0035/variation00/attempt00/physics", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0035/variation00/attempt00/physics", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 240, |
| "surroundings_displacement_m": { |
| "rack": 0.00018063862084786617, |
| "clutter_0": 4.2146848510894035e-08, |
| "clutter_1": 2.186818386668266e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| }, |
| { |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0035/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0035/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 240, |
| "surroundings_displacement_m": { |
| "rack": 0.00018063862084786617, |
| "clutter_0": 4.2146848510894035e-08, |
| "clutter_1": 2.186818386668266e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| } |
| } |
| ], |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0035/variation00/render_attempt00_0", |
| "validation": { |
| "accepted": true, |
| "profile": "clutter_expert", |
| "checks": { |
| "simulation_completed": true, |
| "task_success": true, |
| "expert_completed": true, |
| "physical_grasp": true, |
| "target_lifted": true, |
| "sustained_rack_support": true, |
| "target_released": true, |
| "target_settled": true, |
| "surroundings_stationary": true, |
| "no_unintended_contacts_above_0_05N": true, |
| "nonempty": true, |
| "uniform_timestamps": true, |
| "action_timing": true, |
| "state_action_shapes": true, |
| "camera_sync": true, |
| "finite_numeric_data": true, |
| "measured_gripper_convention": true, |
| "commanded_gripper_convention": true, |
| "gripper_bounds": true, |
| "absolute_targets_held_each_control_period": true, |
| "physics_contact_log_cadence": true, |
| "correct_arm_order": true, |
| "declared_capture_rate": true, |
| "physics_rate": true, |
| "initial_robot_state": true, |
| "three_cameras": true, |
| "camera_identity_version": true, |
| "camera_pose_calibration": true, |
| "wall_image_count": true, |
| "wrist_image_count": true, |
| "body_forward_image_count": true, |
| "distinct_camera_views": true, |
| "path_tracing": true, |
| "camera_convergence": true |
| }, |
| "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0035/variation00/render_attempt00_0", |
| "metrics": { |
| "fps": 15.0, |
| "action_horizon": 50, |
| "frames": 240, |
| "surroundings_displacement_m": { |
| "rack": 0.00018063862084786617, |
| "clutter_0": 4.2146848510894035e-08, |
| "clutter_1": 2.186818386668266e-06 |
| }, |
| "unintended_contacts": [] |
| } |
| }, |
| "repo_id": "local/sim_ep_03_validation", |
| "episode_index": 4 |
| } |
| ], |
| "rejected": [], |
| "normalization": "train only; 50-step absolute action chunks converted to joint deltas about their initial measured state; gripper absolute" |
| } |
|
|
