| { |
| "algorithm": "supermimic", |
| "actor_input_normalization": "rsl_rl_empirical_real_next_obs", |
| "task": "lemon", |
| "seed": 0, |
| "smoke": false, |
| "reset_bank": "/mnt/data3/ZhouZhiqiang/supermimic_manipulation/banks/lemon.pt", |
| "dataset": { |
| "contract": { |
| "task": "lemon", |
| "robot": "arx5", |
| "joint_order": [ |
| "joint1", |
| "joint2", |
| "joint3", |
| "joint4", |
| "joint5", |
| "joint6", |
| "joint7", |
| "joint8" |
| ], |
| "fields": [ |
| "joint_pos", |
| "joint_vel", |
| "lemon_pose", |
| "lemon_vel", |
| "plate_pose" |
| ], |
| "frame": "environment_world", |
| "pose": "xyz_wxyz", |
| "joint_units": [ |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "rad", |
| "m", |
| "m" |
| ], |
| "joint_velocity_units": [ |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "rad/s", |
| "m/s", |
| "m/s" |
| ], |
| "position_unit": "m", |
| "lemon_velocity": "root_origin_local_linear_xyz_angular_xyz", |
| "lemon_velocity_units": [ |
| "m/s", |
| "m/s", |
| "m/s", |
| "rad/s", |
| "rad/s", |
| "rad/s" |
| ], |
| "plate": "fixed_mocap_pose_constant_within_episode", |
| "categories": [ |
| "ObjectAnywhereEEAnywhere", |
| "ObjectRestingEEGrasped", |
| "ObjectAirborneEEGrasped", |
| "ObjectNearGoalEEGrasped" |
| ] |
| }, |
| "provenance": { |
| "method": "fresh_ik_static_contact_and_mjlab_hold", |
| "workspace": { |
| "frame": "world", |
| "xy_min": [ |
| 0.2, |
| -0.2 |
| ], |
| "xy_max": [ |
| 0.5, |
| 0.3 |
| ], |
| "containment": "complete_object_geometry", |
| "units": "m" |
| }, |
| "seed": 42, |
| "proposal_config": { |
| "x_range": [ |
| 0.2, |
| 0.5 |
| ], |
| "y_range": [ |
| -0.2, |
| 0.3 |
| ], |
| "airborne_z": [ |
| 0.08, |
| 0.25 |
| ], |
| "near_plate_height": [ |
| 0.035, |
| 0.08 |
| ], |
| "plate_z": 0.008, |
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| "grasp_roll_range": [ |
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| 3.141592653589793 |
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| "grasp_witness_attempts": 8, |
| "workspace": { |
| "frame": "world", |
| "xy_min": [ |
| 0.2, |
| -0.2 |
| ], |
| "xy_max": [ |
| 0.5, |
| 0.3 |
| ], |
| "containment": "complete_object_geometry", |
| "units": "m" |
| }, |
| "geometry_boundary": "rotated_body_aabb_of_all_visual_and_collision_mesh_vertices", |
| "pose_sources": { |
| "ObjectAnywhereEEAnywhere": "fresh_table_xy_and_yaw_then_natural_settling", |
| "ObjectRestingEEGrasped": "accepted_task0_full_resting_pose_with_uniform_grasp_roll", |
| "ObjectAirborneEEGrasped": "haar_object_orientation_fresh_airborne_xyz_uniform_grasp_roll", |
| "ObjectNearGoalEEGrasped": "perturbed_task0_orientation_fresh_near_plate_xyz_uniform_grasp_roll" |
| }, |
| "resting_pose_count": 10000, |
| "goal_witness": "independent_static_grasp_at_plate_hover_not_same_grasp_transfer", |
| "near_plate_orientation_perturbation": "uniform_axis_and_uniform_signed_angle", |
| "proposal_workers": 64, |
| "proposal_seed_schedule": "seed_sequence_base_seed_and_ordered_chunk_index", |
| "proposal_chunking": "balanced_contiguous_chunks_up_to_worker_count", |
| "worker_device": "cpu", |
| "worker_threads": 1 |
| }, |
| "hold_steps": 20, |
| "replay_validation": { |
| "steps": 20, |
| "required_stable_steps": 20, |
| "counts": { |
| "ObjectAnywhereEEAnywhere": { |
| "tested": 10401, |
| "passed": 10199 |
| }, |
| "ObjectRestingEEGrasped": { |
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| "passed": 10011 |
| }, |
| "ObjectAirborneEEGrasped": { |
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| "passed": 10398 |
| }, |
| "ObjectNearGoalEEGrasped": { |
| "tested": 14271, |
| "passed": 10469 |
| } |
| }, |
| "saved_state": "before_replay_with_projected_fingers", |
| "command": "fixed_initial_ee_pose", |
| "seed_offset": 700000 |
| }, |
| "settle_steps_max": 200, |
| "executed_control_steps": { |
| "ObjectAnywhereEEAnywhere": [ |
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| 200, |
| 200, |
| 200, |
| 200, |
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| 200, |
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| 200, |
| 200, |
| 200, |
| 200, |
| 200, |
| 200, |
| 200, |
| 52, |
| 50 |
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| "ObjectRestingEEGrasped": [ |
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| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
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| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20 |
| ], |
| "ObjectAirborneEEGrasped": [ |
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| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20, |
| 20 |
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| "ObjectNearGoalEEGrasped": [ |
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| 20, |
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| 20, |
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