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- .gitattributes +434 -0
- artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0000.debug.json +1 -0
- artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0000.json +1 -0
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| 1920 |
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| 1921 |
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| 1922 |
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| 1923 |
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| 1924 |
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| 1925 |
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| 1926 |
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| 1927 |
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| 1928 |
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| 1929 |
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| 1930 |
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| 1931 |
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| 1932 |
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| 1933 |
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| 1934 |
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| 1935 |
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| 1936 |
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| 1937 |
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| 1938 |
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| 1939 |
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| 1940 |
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| 1941 |
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| 1942 |
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| 1943 |
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| 1944 |
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| 1945 |
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| 1946 |
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| 1947 |
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| 1948 |
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| 1949 |
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| 1950 |
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| 1951 |
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| 1952 |
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| 1953 |
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| 1954 |
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| 1955 |
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| 1956 |
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| 1957 |
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| 1958 |
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| 1959 |
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| 1960 |
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| 1961 |
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| 1962 |
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| 1963 |
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| 1964 |
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| 1965 |
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| 1966 |
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| 1967 |
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| 1968 |
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| 1969 |
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| 1970 |
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| 1971 |
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| 1972 |
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| 1973 |
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| 1974 |
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| 1975 |
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| 1976 |
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| 1977 |
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| 1978 |
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| 1979 |
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| 1980 |
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| 1981 |
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| 1982 |
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| 1983 |
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| 1984 |
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| 1985 |
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| 1986 |
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| 1987 |
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| 1988 |
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| 1989 |
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| 1990 |
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| 1991 |
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| 1992 |
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| 1993 |
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| 1994 |
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| 1995 |
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| 1996 |
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| 1997 |
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| 1998 |
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| 1999 |
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| 2000 |
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| 2001 |
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| 2002 |
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| 2003 |
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| 2004 |
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0000.debug.json
ADDED
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0000.json
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{"frame_index": 0, "time_norm": 0.0, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2451794296503067, "right_arm_pose_y": -0.24187642335891724, "right_arm_pose_z": 1.4707512855529785, "right_arm_pose_qx": -0.9927899241447449, "right_arm_pose_qy": -1.3553760254580993e-05, "right_arm_pose_qz": 0.11986755579710007, "right_arm_pose_qw": 1.4868519429001026e-05, "left_arm_pose_x": 0.30253246426582336, "left_arm_pose_y": 0.06815281510353088, "left_arm_pose_z": 1.4700140953063965, "left_arm_pose_qx": -0.043302085250616074, "left_arm_pose_qy": 0.9918959736824036, "left_arm_pose_qz": 0.0052024610340595245, "left_arm_pose_qw": 0.11933258920907974, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.48738440681897394, "pregrasp_position_error": 0.48738440681897394, "pregrasp_orientation_error_deg": 93.38229341044853, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 250.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0001.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0001.json
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{"frame_index": 1, "time_norm": 0.003048780487804878, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2450590431690216, "right_arm_pose_y": -0.24168772995471954, "right_arm_pose_z": 1.4700723886489868, "right_arm_pose_qx": -0.9929077625274658, "right_arm_pose_qy": -0.0011311410926282406, "right_arm_pose_qz": 0.118880994617939, "right_arm_pose_qw": 0.0006114164716564119, "left_arm_pose_x": 0.302495539188385, "left_arm_pose_y": 0.06814294308423996, "left_arm_pose_z": 1.469923734664917, "left_arm_pose_qx": -0.04304804280400276, "left_arm_pose_qy": 0.9918913841247559, "left_arm_pose_qz": 0.005424357019364834, "left_arm_pose_qw": 0.11945263296365738, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4873203780332623, "pregrasp_position_error": 0.4873203780332623, "pregrasp_orientation_error_deg": 93.3419602988584, "p_pre": 0.0, "p_ext": 0.0007311503092447911, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474810600280762, "p_ext_final_height": 1.0474810600280762, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 249.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0002.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0002.json
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{"frame_index": 2, "time_norm": 0.006097560975609756, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2447342872619629, "right_arm_pose_y": -0.24101512134075165, "right_arm_pose_z": 1.4678443670272827, "right_arm_pose_qx": -0.9932767748832703, "right_arm_pose_qy": -0.004821819253265858, "right_arm_pose_qz": 0.1156335324048996, "right_arm_pose_qw": 0.002618701197206974, "left_arm_pose_x": 0.30248141288757324, "left_arm_pose_y": 0.06813552975654602, "left_arm_pose_z": 1.469452142715454, "left_arm_pose_qx": -0.04215531423687935, "left_arm_pose_qy": 0.9918966293334961, "left_arm_pose_qz": 0.006158388685435057, "left_arm_pose_qw": 0.11969129741191864, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.48691145074343695, "pregrasp_position_error": 0.48691145074343695, "pregrasp_orientation_error_deg": 93.21186277504533, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 249.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0003.debug.json
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{"frame_index": 3, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.047481894493103, "tray_grasped_left": false, "left_arm_pose": [0.30249106884002686, 0.068133644759655, 1.4685356616973877, -0.040468208491802216, 0.9919103980064392, 0.007534258998930454, 0.12008098512887955], "right_arm_pose": [0.24406597018241882, -0.23979060351848602, 1.4636321067810059, -0.9938977360725403, -0.011620370671153069, 0.10951390117406845, 0.006244243122637272], "left_arm_joint_positions": [-0.0015995466383174062, 0.16266801953315735, -0.0005874303169548512, -0.9002065062522888, 0.004879837390035391, 1.2362632751464844, 0.7913109064102173], "right_arm_joint_positions": [-0.0016341173322871327, 0.1796450912952423, 0.003191742580384016, -0.8839804530143738, -0.011807555332779884, 1.2143869400024414, 0.7571929693222046], "pregrasp_goal_pose": [0.48597903791165264, 0.2087856589712203, 1.0409296186415038, 0.3684250687886377, 0.6665141709276788, 0.5652485718171505, 0.31704239574439896], 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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0003.json
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{"frame_index": 3, "time_norm": 0.009146341463414634, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24406597018241882, "right_arm_pose_y": -0.23979060351848602, "right_arm_pose_z": 1.4636321067810059, "right_arm_pose_qx": -0.9938977360725403, "right_arm_pose_qy": -0.011620370671153069, "right_arm_pose_qz": 0.10951390117406845, "right_arm_pose_qw": 0.006244243122637272, "left_arm_pose_x": 0.30249106884002686, "left_arm_pose_y": 0.068133644759655, "left_arm_pose_z": 1.4685356616973877, "left_arm_pose_qx": -0.040468208491802216, "left_arm_pose_qy": 0.9919103980064392, "left_arm_pose_qz": 0.007534258998930454, "left_arm_pose_qw": 0.12008098512887955, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.48610467180815153, "pregrasp_position_error": 0.48610467180815153, "pregrasp_orientation_error_deg": 92.97034291209816, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 250.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0004.debug.json
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+
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0004.json
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{"frame_index": 4, "time_norm": 0.012195121951219513, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24317589402198792, "right_arm_pose_y": -0.2379506230354309, "right_arm_pose_z": 1.4574898481369019, "right_arm_pose_qx": -0.9946333169937134, "right_arm_pose_qy": -0.021763231605291367, "right_arm_pose_qz": 0.10049407184123993, "right_arm_pose_qw": 0.011488141492009163, "left_arm_pose_x": 0.30245956778526306, "left_arm_pose_y": 0.06808706372976303, "left_arm_pose_z": 1.4670335054397583, "left_arm_pose_qx": -0.037892989814281464, "left_arm_pose_qy": 0.9919236302375793, "left_arm_pose_qz": 0.009616888128221035, "left_arm_pose_qw": 0.1206618994474411, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4848088885538166, "pregrasp_position_error": 0.4848088885538166, "pregrasp_orientation_error_deg": 92.60299850603525, "p_pre": 0.0, "p_ext": 0.0007311503092447911, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474810600280762, "p_ext_final_height": 1.0474810600280762, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 252.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0005.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0005.json
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{"frame_index": 5, "time_norm": 0.01524390243902439, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24205715954303741, "right_arm_pose_y": -0.23552490770816803, "right_arm_pose_z": 1.4492312669754028, "right_arm_pose_qx": -0.9953108429908752, "right_arm_pose_qy": -0.03546370565891266, "right_arm_pose_qz": 0.08813625574111938, "right_arm_pose_qw": 0.018187979236245155, "left_arm_pose_x": 0.30238452553749084, "left_arm_pose_y": 0.06804650276899338, "left_arm_pose_z": 1.4649204015731812, "left_arm_pose_qx": -0.03435513377189636, "left_arm_pose_qy": 0.9919314980506897, "left_arm_pose_qz": 0.01252208836376667, "left_arm_pose_qw": 0.12138735502958298, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.48299163578343374, "pregrasp_position_error": 0.48299163578343374, "pregrasp_orientation_error_deg": 92.09792564264693, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 254.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0006.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0006.json
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| 1 |
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{"frame_index": 6, "time_norm": 0.018292682926829267, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.24100780487060547, "right_arm_pose_y": -0.232624813914299, "right_arm_pose_z": 1.4395133256912231, "right_arm_pose_qx": -0.9956377148628235, "right_arm_pose_qy": -0.052012063562870026, "right_arm_pose_qz": 0.07309670746326447, "right_arm_pose_qw": 0.02563543990254402, "left_arm_pose_x": 0.30231279134750366, "left_arm_pose_y": 0.06799928843975067, "left_arm_pose_z": 1.4622620344161987, "left_arm_pose_qx": -0.02983015589416027, "left_arm_pose_qy": 0.9919010400772095, "left_arm_pose_qz": 0.01621743105351925, "left_arm_pose_qw": 0.12239094078540802, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4807020383919676, "pregrasp_position_error": 0.4807020383919676, "pregrasp_orientation_error_deg": 91.45054909287401, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 254.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0007.debug.json
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{"frame_index": 7, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.3021751642227173, 0.06793046742677689, 1.4592905044555664, -0.024754371494054794, 0.9918256998062134, 0.02033986896276474, 0.12351255863904953], "right_arm_pose": [0.2403450906276703, -0.22955067455768585, 1.4294734001159668, -0.995380163192749, -0.07002534717321396, 0.05678654462099075, 0.03301704674959183], "left_arm_joint_positions": [-0.009177204221487045, 0.0992596447467804, -0.004251208622008562, -1.027256727218628, 0.03011811338365078, 1.3088231086730957, 0.8214954137802124], "right_arm_joint_positions": [-0.009523149579763412, 0.19848087430000305, 0.018452439457178116, -0.9341785311698914, -0.06833731383085251, 1.1805784702301025, 0.6210871934890747], "pregrasp_goal_pose": [0.4859790158240509, 0.20878548022884763, 1.040931820206014, 0.3684272753789445, 0.6665185309366061, 0.5652433974632856, 0.3170398907063875], 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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0007.json
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{"frame_index": 7, "time_norm": 0.021341463414634148, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2403450906276703, "right_arm_pose_y": -0.22955067455768585, "right_arm_pose_z": 1.4294734001159668, "right_arm_pose_qx": -0.995380163192749, "right_arm_pose_qy": -0.07002534717321396, "right_arm_pose_qz": 0.05678654462099075, "right_arm_pose_qw": 0.03301704674959183, "left_arm_pose_x": 0.3021751642227173, "left_arm_pose_y": 0.06793046742677689, "left_arm_pose_z": 1.4592905044555664, "left_arm_pose_qx": -0.024754371494054794, "left_arm_pose_qy": 0.9918256998062134, "left_arm_pose_qz": 0.02033986896276474, "left_arm_pose_qw": 0.12351255863904953, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.47817149557661137, "pregrasp_position_error": 0.47817149557661137, "pregrasp_orientation_error_deg": 90.72717986384005, "p_pre": 0.0, "p_ext": 0.0007315476735432937, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474811792373657, "p_ext_final_height": 1.0474811792373657, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 254.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0008.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0008.json
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{"frame_index": 8, "time_norm": 0.024390243902439025, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.23991744220256805, "right_arm_pose_y": -0.22640077769756317, "right_arm_pose_z": 1.4193735122680664, "right_arm_pose_qx": -0.9944779276847839, "right_arm_pose_qy": -0.0884876549243927, "right_arm_pose_qz": 0.039874982088804245, "right_arm_pose_qw": 0.039918527007102966, "left_arm_pose_x": 0.3020414113998413, "left_arm_pose_y": 0.06781693547964096, "left_arm_pose_z": 1.4559937715530396, "left_arm_pose_qx": -0.019288482144474983, "left_arm_pose_qy": 0.991712212562561, "left_arm_pose_qz": 0.024700097739696503, "left_arm_pose_qw": 0.12459821999073029, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.4753766025587364, "pregrasp_position_error": 0.4753766025587364, "pregrasp_orientation_error_deg": 89.96099851058536, "p_pre": 0.0, "p_ext": 0.0007311503092447911, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474810600280762, "p_ext_final_height": 1.0474810600280762, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 0.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 254.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0083.debug.json
ADDED
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0083.json
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{"frame_index": 83, "time_norm": 0.2530487804878049, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.5015319585800171, "right_arm_pose_y": -0.009746596217155457, "right_arm_pose_z": 1.1448124647140503, "right_arm_pose_qx": 0.3280012011528015, "right_arm_pose_qy": 0.6261547207832336, "right_arm_pose_qz": 0.6263321042060852, "right_arm_pose_qw": 0.32871514558792114, "left_arm_pose_x": 0.29383426904678345, "left_arm_pose_y": 0.0637650266289711, "left_arm_pose_z": 1.186554193496704, "left_arm_pose_qx": 0.42100489139556885, "left_arm_pose_qy": 0.8029817342758179, "left_arm_pose_qz": 0.3739358186721802, "left_arm_pose_qw": 0.1953134536743164, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813466095903848, "pregrasp_position_error": 0.2813466095903848, "pregrasp_orientation_error_deg": 31.014337244533586, "p_pre": 0.0, "p_ext": 0.0007307529449462885, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474809408187866, "p_ext_final_height": 1.0474809408187866, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 204.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0084.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0084.json
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{"frame_index": 84, "time_norm": 0.25609756097560976, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.5117766857147217, "right_arm_pose_y": -0.0026696249842643738, "right_arm_pose_z": 1.1448662281036377, "right_arm_pose_qx": 0.3279757797718048, "right_arm_pose_qy": 0.6261718273162842, "right_arm_pose_qz": 0.6263440847396851, "right_arm_pose_qw": 0.32868507504463196, "left_arm_pose_x": 0.2938291132450104, "left_arm_pose_y": 0.06379236280918121, "left_arm_pose_z": 1.186474323272705, "left_arm_pose_qx": 0.4210171699523926, "left_arm_pose_qy": 0.8029971122741699, "left_arm_pose_qz": 0.37391382455825806, "left_arm_pose_qw": 0.19526588916778564, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28129553774505817, "pregrasp_position_error": 0.28129553774505817, "pregrasp_orientation_error_deg": 31.01998926365636, "p_pre": 0.0, "p_ext": 0.0007315476735432937, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474811792373657, "p_ext_final_height": 1.0474811792373657, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 192.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0085.debug.json
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{"frame_index": 85, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.2938358783721924, 0.06375771015882492, 1.1866235733032227, 0.4210006296634674, 0.802964448928833, 0.3739605247974396, 0.19534625113010406], "right_arm_pose": [0.522145688533783, 0.004519347101449966, 1.1449161767959595, 0.32799243927001953, 0.6261751055717468, 0.6263272762298584, 0.32869425415992737], "left_arm_joint_positions": [0.04115629568696022, -0.3824128806591034, -0.09357020258903503, -2.4851279258728027, 0.9145044088363647, 2.6319797039031982, 1.0956989526748657], "right_arm_joint_positions": [-0.3348851203918457, -0.016115635633468628, 0.1476133167743683, -2.3594257831573486, -1.0021084547042847, 1.0067377090454102, -1.4853276014328003], "pregrasp_goal_pose": [0.4859790971807466, 0.20878168750256676, 1.0409299034047845, 0.3684235757329261, 0.6665169007390245, 0.5652452860411293, 0.31704425003726494], "pregrasp_position_error": 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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0085.json
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{"frame_index": 85, "time_norm": 0.25914634146341464, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.522145688533783, "right_arm_pose_y": 0.004519347101449966, "right_arm_pose_z": 1.1449161767959595, "right_arm_pose_qx": 0.32799243927001953, "right_arm_pose_qy": 0.6261751055717468, "right_arm_pose_qz": 0.6263272762298584, "right_arm_pose_qw": 0.32869425415992737, "left_arm_pose_x": 0.2938358783721924, "left_arm_pose_y": 0.06375771015882492, "left_arm_pose_z": 1.1866235733032227, "left_arm_pose_qx": 0.4210006296634674, "left_arm_pose_qy": 0.802964448928833, "left_arm_pose_qz": 0.3739605247974396, "left_arm_pose_qw": 0.19534625113010406, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813851737160029, "pregrasp_position_error": 0.2813851737160029, "pregrasp_orientation_error_deg": 31.009313599428975, "p_pre": 0.0, "p_ext": 0.0007315476735432937, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474811792373657, "p_ext_final_height": 1.0474811792373657, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 190.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0086.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0086.json
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{"frame_index": 86, "time_norm": 0.2621951219512195, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.5325903296470642, "right_arm_pose_y": 0.011738039553165436, "right_arm_pose_z": 1.144924283027649, "right_arm_pose_qx": 0.3279557228088379, "right_arm_pose_qy": 0.6261856555938721, "right_arm_pose_qz": 0.6263085603713989, "right_arm_pose_qw": 0.3287464380264282, "left_arm_pose_x": 0.2938104569911957, "left_arm_pose_y": 0.06377866864204407, "left_arm_pose_z": 1.1865973472595215, "left_arm_pose_qx": 0.42099207639694214, "left_arm_pose_qy": 0.8029677271842957, "left_arm_pose_qz": 0.3739648461341858, "left_arm_pose_qw": 0.19534289836883545, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813788284698226, "pregrasp_position_error": 0.2813788284698226, "pregrasp_orientation_error_deg": 31.00942614410613, "p_pre": 0.0, "p_ext": 0.0007311503092447911, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474810600280762, "p_ext_final_height": 1.0474810600280762, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 190.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0087.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0087.json
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{"frame_index": 87, "time_norm": 0.2652439024390244, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.542290210723877, "right_arm_pose_y": 0.01839704066514969, "right_arm_pose_z": 1.1449434757232666, "right_arm_pose_qx": 0.327923059463501, "right_arm_pose_qy": 0.626179575920105, "right_arm_pose_qz": 0.6263232827186584, "right_arm_pose_qw": 0.3287624716758728, "left_arm_pose_x": 0.29383793473243713, "left_arm_pose_y": 0.06377579271793365, "left_arm_pose_z": 1.1865495443344116, "left_arm_pose_qx": 0.42100122570991516, "left_arm_pose_qy": 0.802980899810791, "left_arm_pose_qz": 0.3739383816719055, "left_arm_pose_qw": 0.19531957805156708, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28133471472722993, "pregrasp_position_error": 0.28133471472722993, "pregrasp_orientation_error_deg": 31.01307477975655, "p_pre": 0.0, "p_ext": 0.0007315476735432937, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474811792373657, "p_ext_final_height": 1.0474811792373657, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 167.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0088.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0088.json
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| 1 |
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{"frame_index": 88, "time_norm": 0.2682926829268293, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.550385057926178, "right_arm_pose_y": 0.023947296664118767, "right_arm_pose_z": 1.1449565887451172, "right_arm_pose_qx": 0.32791244983673096, "right_arm_pose_qy": 0.6261988282203674, "right_arm_pose_qz": 0.6262986660003662, "right_arm_pose_qw": 0.32878321409225464, "left_arm_pose_x": 0.2938176393508911, "left_arm_pose_y": 0.06378573179244995, "left_arm_pose_z": 1.186540126800537, "left_arm_pose_qx": 0.4210068881511688, "left_arm_pose_qy": 0.8029784560203552, "left_arm_pose_qz": 0.37394779920578003, "left_arm_pose_qw": 0.19529925286769867, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28134016386329547, "pregrasp_position_error": 0.28134016386329547, "pregrasp_orientation_error_deg": 31.014141059271893, "p_pre": 0.0, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 152.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0089.debug.json
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{"frame_index": 89, "state": {"door_angle": 1.5707963705062866, "tray_height": 1.0474822521209717, "tray_grasped_left": false, "left_arm_pose": [0.2937833070755005, 0.06377334892749786, 1.1865479946136475, 0.42099258303642273, 0.8029872179031372, 0.37394458055496216, 0.19530010223388672], "right_arm_pose": [0.556506872177124, 0.02814401686191559, 1.144963264465332, 0.32788074016571045, 0.6262336373329163, 0.626283586025238, 0.32877740263938904], "left_arm_joint_positions": [0.04115653410553932, -0.38248535990715027, -0.09355589747428894, -2.4852113723754883, 0.9144691228866577, 2.631939172744751, 1.0956531763076782], "right_arm_joint_positions": [-0.37052416801452637, -0.09674379229545593, 0.10849311947822571, -2.4576144218444824, -1.0548633337020874, 1.0695910453796387, -1.5044013261795044], "pregrasp_goal_pose": [0.48597906559236265, 0.20878126625641139, 1.040932120956383, 0.3684292166934941, 0.6665160638661067, 0.5652463106856476, 0.31703762734305624], "pregrasp_position_error": 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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0089.json
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{"frame_index": 89, "time_norm": 0.27134146341463417, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.556506872177124, "right_arm_pose_y": 0.02814401686191559, "right_arm_pose_z": 1.144963264465332, "right_arm_pose_qx": 0.32788074016571045, "right_arm_pose_qy": 0.6262336373329163, "right_arm_pose_qz": 0.626283586025238, "right_arm_pose_qw": 0.32877740263938904, "left_arm_pose_x": 0.2937833070755005, "left_arm_pose_y": 0.06377334892749786, "left_arm_pose_z": 1.1865479946136475, "left_arm_pose_qx": 0.42099258303642273, "left_arm_pose_qy": 0.8029872179031372, "left_arm_pose_qz": 0.37394458055496216, "left_arm_pose_qw": 0.19530010223388672, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.281372508146957, "pregrasp_position_error": 0.281372508146957, "pregrasp_orientation_error_deg": 31.01384079783532, "p_pre": 0.0, "p_ext": 0.0007311503092447911, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474810600280762, "p_ext_final_height": 1.0474810600280762, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 152.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0090.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0090.json
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{"frame_index": 90, "time_norm": 0.27439024390243905, "door_angle": 1.5707963705062866, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.5605961680412292, "right_arm_pose_y": 0.030910702422261238, "right_arm_pose_z": 1.1449401378631592, "right_arm_pose_qx": 0.32781732082366943, "right_arm_pose_qy": 0.6262717843055725, "right_arm_pose_qz": 0.6262684464454651, "right_arm_pose_qw": 0.3287968337535858, "left_arm_pose_x": 0.29382747411727905, "left_arm_pose_y": 0.06379382312297821, "left_arm_pose_z": 1.1865252256393433, "left_arm_pose_qx": 0.42100751399993896, "left_arm_pose_qy": 0.802984893321991, "left_arm_pose_qz": 0.37394556403160095, "left_arm_pose_qw": 0.1952757090330124, "tray_height": 1.0474820137023926, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28132041978221567, "pregrasp_position_error": 0.28132041978221567, "pregrasp_orientation_error_deg": 31.015386612442352, "p_pre": 0.0, "p_ext": 0.0007315476735432937, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474811792373657, "p_ext_final_height": 1.0474811792373657, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 142.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0091.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0091.json
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{"frame_index": 91, "time_norm": 0.2774390243902439, "door_angle": 1.5705536603927612, "right_gripper_open": 0.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.5621300339698792, "right_arm_pose_y": 0.03193499892950058, "right_arm_pose_z": 1.1452751159667969, "right_arm_pose_qx": 0.32774263620376587, "right_arm_pose_qy": 0.6262086629867554, "right_arm_pose_qz": 0.6263960599899292, "right_arm_pose_qw": 0.3287483751773834, "left_arm_pose_x": 0.2936960458755493, "left_arm_pose_y": 0.06383942067623138, "left_arm_pose_z": 1.1854281425476074, "left_arm_pose_qx": 0.42134273052215576, "left_arm_pose_qy": 0.8032221794128418, "left_arm_pose_qz": 0.37349072098731995, "left_arm_pose_qw": 0.19444555044174194, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2808215293581176, "pregrasp_position_error": 0.2808215293581176, "pregrasp_orientation_error_deg": 31.118174021505578, "p_pre": 0.0, "p_ext": 0.0007311503092447911, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 0.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.0, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 0.0, "p_pre_assisted_reliability": 0.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.0, "p_pre_door_quality": 0.0, "p_pre_step_quality_mean": 0.0, "p_pre_step_quality_min": 0.0, "p_pre_step_quality_max": 0.0, "p_pre_alignment_signed_mean": 0.0, "p_pre_alignment_abs_mean": 0.0, "p_pre_collision_count": 0.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": -1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": NaN, "p_pre_best_target_pose_y": NaN, "p_pre_best_target_pose_z": NaN, "p_pre_best_target_pose_qx": NaN, "p_pre_best_target_pose_qy": NaN, "p_pre_best_target_pose_qz": NaN, "p_pre_best_target_pose_qw": NaN, "p_ext_initial_height": 1.0474810600280762, "p_ext_final_height": 1.0474810600280762, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.0, "three_view_whole_tray_visibility": 0.0, "full_view_visibility": 0.0, "full_view_whole_tray_visibility": 0.0, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.0, "overhead_tray_visibility": 0.0, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 0.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 0.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.0, "wrist_right_grasp_projected_count": 0.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 135.0, "wrist_right_tray_visible_count": 0.0, "wrist_left_grasp_visibility": 0.0, "wrist_left_tray_visibility": 0.0, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 0.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 0.0, "over_shoulder_left_grasp_visibility": 0.0, "over_shoulder_left_tray_visibility": 0.0, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 0.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 0.0, "over_shoulder_right_grasp_visibility": 0.0, "over_shoulder_right_tray_visibility": 0.0, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 0.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 0.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0092.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0092.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0166.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0166.json
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{"frame_index": 166, "time_norm": 0.5060975609756098, "door_angle": 0.7303735017776489, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.21180039644241333, "right_arm_pose_y": -0.3060535490512848, "right_arm_pose_z": 1.05326509475708, "right_arm_pose_qx": -0.334056556224823, "right_arm_pose_qy": 0.68068927526474, "right_arm_pose_qz": 0.5473254323005676, "right_arm_pose_qw": 0.3542642891407013, "left_arm_pose_x": 0.29388272762298584, "left_arm_pose_y": 0.0637638047337532, "left_arm_pose_z": 1.1865549087524414, "left_arm_pose_qx": 0.42096635699272156, "left_arm_pose_qy": 0.8029656410217285, "left_arm_pose_qz": 0.3739777207374573, "left_arm_pose_qw": 0.19538234174251556, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813117882798122, "pregrasp_position_error": 0.2813117882798122, "pregrasp_orientation_error_deg": 31.005232347128793, "p_pre": 0.6100230492784655, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.22004609855693114, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.4457631904899033, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.33755481243133545, "p_pre_door_quality": 0.4972492826866715, "p_pre_step_quality_mean": 0.2817846895523879, "p_pre_step_quality_min": -0.6450523766198126, "p_pre_step_quality_max": 0.8930424155848313, "p_pre_alignment_signed_mean": -0.5648091985416256, "p_pre_alignment_abs_mean": 0.6760701444720392, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.4659791362173943, "p_pre_best_target_pose_y": 0.2087765307169998, "p_pre_best_target_pose_z": 1.04093004365989, "p_pre_best_target_pose_qx": 0.3684247998785558, "p_pre_best_target_pose_qy": 0.6665167976115888, "p_pre_best_target_pose_qz": 0.5652454161817871, "p_pre_best_target_pose_qw": 0.3170428122848977, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7, "three_view_whole_tray_visibility": 0.815327892325315, "full_view_visibility": 0.9417283950617283, "full_view_whole_tray_visibility": 0.8906794317448425, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.34444444444444444, "overhead_tray_visibility": 0.033783783783783786, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 31.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 10.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.20618556701030927, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 194.0, "wrist_right_tray_visible_count": 40.0, "wrist_left_grasp_visibility": 0.7, "wrist_left_tray_visibility": 0.7673611111111112, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 221.0, "over_shoulder_left_grasp_visibility": 0.4444444444444444, "over_shoulder_left_tray_visibility": 0.07224334600760456, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 40.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 19.0, "over_shoulder_right_grasp_visibility": 0.4666666666666667, "over_shoulder_right_tray_visibility": 0.33962264150943394, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 42.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 72.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0167.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0167.json
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{"frame_index": 167, "time_norm": 0.5091463414634146, "door_angle": 0.7280155420303345, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.2070828676223755, "right_arm_pose_y": -0.3177507519721985, "right_arm_pose_z": 1.0587738752365112, "right_arm_pose_qx": -0.35647693276405334, "right_arm_pose_qy": 0.6796560287475586, "right_arm_pose_qz": 0.5402147769927979, "right_arm_pose_qw": 0.34519559144973755, "left_arm_pose_x": 0.293857216835022, "left_arm_pose_y": 0.06377272307872772, "left_arm_pose_z": 1.1865355968475342, "left_arm_pose_qx": 0.42095881700515747, "left_arm_pose_qy": 0.8029677867889404, "left_arm_pose_qz": 0.3739800453186035, "left_arm_pose_qw": 0.1953851282596588, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28131455598992683, "pregrasp_position_error": 0.28131455598992683, "pregrasp_orientation_error_deg": 31.00523583462389, "p_pre": 0.6079165234236646, "p_ext": 0.0007311503092447911, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.2158330468473293, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.4457528220282105, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.3559821844100952, "p_pre_door_quality": 0.4877272750698594, "p_pre_step_quality_mean": 0.26818182152837056, "p_pre_step_quality_min": -0.6704325442123571, "p_pre_step_quality_max": 0.9231637906538357, "p_pre_alignment_signed_mean": -0.5689142634039883, "p_pre_alignment_abs_mean": 0.6836741892653089, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.46597918906611463, "p_pre_best_target_pose_y": 0.20877696578541152, "p_pre_best_target_pose_z": 1.040930662882692, "p_pre_best_target_pose_qx": 0.36842732644000914, "p_pre_best_target_pose_qy": 0.6665129750073924, "p_pre_best_target_pose_qz": 0.56524992654997, "p_pre_best_target_pose_qw": 0.3170398710167474, "p_ext_initial_height": 1.0474810600280762, "p_ext_final_height": 1.0474810600280762, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7, "three_view_whole_tray_visibility": 0.8416075650118204, "full_view_visibility": 0.9417283950617283, "full_view_whole_tray_visibility": 0.9062362409881158, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.34444444444444444, "overhead_tray_visibility": 0.033783783783783786, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 31.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 10.0, "wrist_right_grasp_visibility": 0.0, "wrist_right_tray_visibility": 0.3191489361702128, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 0.0, "wrist_right_tray_projected_count": 188.0, "wrist_right_tray_visible_count": 60.0, "wrist_left_grasp_visibility": 0.7, "wrist_left_tray_visibility": 0.7673611111111112, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 221.0, "over_shoulder_left_grasp_visibility": 0.4444444444444444, "over_shoulder_left_tray_visibility": 0.07224334600760456, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 40.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 19.0, "over_shoulder_right_grasp_visibility": 0.4666666666666667, "over_shoulder_right_tray_visibility": 0.33962264150943394, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 42.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 72.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0168.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0168.json
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{"frame_index": 168, "time_norm": 0.5121951219512195, "door_angle": 0.7275804281234741, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.20260389149188995, "right_arm_pose_y": -0.3296557068824768, "right_arm_pose_z": 1.0645253658294678, "right_arm_pose_qx": -0.3789401650428772, "right_arm_pose_qy": 0.6775692701339722, "right_arm_pose_qz": 0.5334122180938721, "right_arm_pose_qw": 0.3358209729194641, "left_arm_pose_x": 0.29384949803352356, "left_arm_pose_y": 0.06376954913139343, "left_arm_pose_z": 1.1865320205688477, "left_arm_pose_qx": 0.42095744609832764, "left_arm_pose_qy": 0.8029738664627075, "left_arm_pose_qz": 0.3739863336086273, "left_arm_pose_qw": 0.19535093009471893, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813190701795269, "pregrasp_position_error": 0.2813190701795269, "pregrasp_orientation_error_deg": 31.006605962946665, "p_pre": 0.3163064881686564, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 0.0, "p_pre_base_score": 0.3163064881686564, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.4456463063276974, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 0.0, "p_pre_door_open_delta": 0.14297223091125488, "p_pre_door_quality": 0.7147458830823878, "p_pre_step_quality_mean": 0.5924941186891255, "p_pre_step_quality_min": -0.6337787765374974, "p_pre_step_quality_max": 0.9214051061487336, "p_pre_alignment_signed_mean": 0.04308472284661422, "p_pre_alignment_abs_mean": 0.16688213883766195, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.4659791944925369, "p_pre_best_target_pose_y": 0.2087757749395892, "p_pre_best_target_pose_z": 1.0409305320390132, "p_pre_best_target_pose_qx": 0.36842590874007436, "p_pre_best_target_pose_qy": 0.6665151722921293, "p_pre_best_target_pose_qz": 0.5652473520086653, "p_pre_best_target_pose_qw": 0.31704148927330567, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.7999999999999999, "three_view_whole_tray_visibility": 0.8368853767560664, "full_view_visibility": 0.9611522633744856, "full_view_whole_tray_visibility": 0.9034408415635518, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.34444444444444444, "overhead_tray_visibility": 0.033783783783783786, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 31.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 10.0, "wrist_right_grasp_visibility": 0.3333333333333333, "wrist_right_tray_visibility": 0.2988505747126437, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 30.0, "wrist_right_tray_projected_count": 174.0, "wrist_right_tray_visible_count": 52.0, "wrist_left_grasp_visibility": 0.7, "wrist_left_tray_visibility": 0.7673611111111112, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 221.0, "over_shoulder_left_grasp_visibility": 0.4444444444444444, "over_shoulder_left_tray_visibility": 0.07224334600760456, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 40.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 19.0, "over_shoulder_right_grasp_visibility": 0.4666666666666667, "over_shoulder_right_tray_visibility": 0.33962264150943394, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 42.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 72.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0169.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0169.json
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{"frame_index": 169, "time_norm": 0.5152439024390244, "door_angle": 0.7275098562240601, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.19858258962631226, "right_arm_pose_y": -0.3411409556865692, "right_arm_pose_z": 1.070188045501709, "right_arm_pose_qx": -0.40029945969581604, "right_arm_pose_qy": 0.6746147274971008, "right_arm_pose_qz": 0.527186393737793, "right_arm_pose_qw": 0.3266955018043518, "left_arm_pose_x": 0.2938680648803711, "left_arm_pose_y": 0.06376268714666367, "left_arm_pose_z": 1.1865805387496948, "left_arm_pose_qx": 0.4209534227848053, "left_arm_pose_qy": 0.802961528301239, "left_arm_pose_qz": 0.373988538980484, "left_arm_pose_qw": 0.19540612399578094, "tray_height": 1.047481894493103, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.28133486037758065, "pregrasp_position_error": 0.28133486037758065, "pregrasp_orientation_error_deg": 31.002155212048017, "p_pre": 0.6070985243030704, "p_ext": 0.0007311503092447911, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.2141970486061407, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.4457895866152297, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.3994581699371338, "p_pre_door_quality": 0.4840361337760869, "p_pre_step_quality_mean": 0.262908762537267, "p_pre_step_quality_min": -0.6271173235955996, "p_pre_step_quality_max": 0.9211657943823186, "p_pre_alignment_signed_mean": -0.5735400399291053, "p_pre_alignment_abs_mean": 0.6819254830776993, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 1.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.4659792456084684, "p_pre_best_target_pose_y": 0.20877652042355313, "p_pre_best_target_pose_z": 1.0409316937104305, "p_pre_best_target_pose_qx": 0.36842826754010366, "p_pre_best_target_pose_qy": 0.6665176349368827, "p_pre_best_target_pose_qz": 0.5652444575987188, "p_pre_best_target_pose_qw": 0.3170387313081363, "p_ext_initial_height": 1.0474810600280762, "p_ext_final_height": 1.0474810600280762, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.8133333333333332, "three_view_whole_tray_visibility": 0.872433574879227, "full_view_visibility": 0.9637421124828532, "full_view_whole_tray_visibility": 0.9244843508850384, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.34444444444444444, "overhead_tray_visibility": 0.033783783783783786, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 31.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 10.0, "wrist_right_grasp_visibility": 0.37777777777777777, "wrist_right_tray_visibility": 0.43478260869565216, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 34.0, "wrist_right_tray_projected_count": 161.0, "wrist_right_tray_visible_count": 70.0, "wrist_left_grasp_visibility": 0.7, "wrist_left_tray_visibility": 0.7743055555555556, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 223.0, "over_shoulder_left_grasp_visibility": 0.4444444444444444, "over_shoulder_left_tray_visibility": 0.07224334600760456, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 40.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 19.0, "over_shoulder_right_grasp_visibility": 0.4666666666666667, "over_shoulder_right_tray_visibility": 0.33962264150943394, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 42.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 72.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0170.debug.json
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0170.json
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{"frame_index": 170, "time_norm": 0.5182926829268293, "door_angle": 0.7294319868087769, "right_gripper_open": 1.0, "left_gripper_open": 1.0, "right_arm_pose_x": 0.19539344310760498, "right_arm_pose_y": -0.35090142488479614, "right_arm_pose_z": 1.0752415657043457, "right_arm_pose_qx": -0.41829514503479004, "right_arm_pose_qy": 0.6712868809700012, "right_arm_pose_qz": 0.5221737027168274, "right_arm_pose_qw": 0.3189634382724762, "left_arm_pose_x": 0.2938452363014221, "left_arm_pose_y": 0.06376258283853531, "left_arm_pose_z": 1.1865825653076172, "left_arm_pose_qx": 0.4209597110748291, "left_arm_pose_qy": 0.8029597401618958, "left_arm_pose_qz": 0.37399008870124817, "left_arm_pose_qw": 0.19539734721183777, "tray_height": 1.0474822521209717, "tray_grasped_left": 0.0, "pregrasp_progress": 0.0, "pregrasp_distance": 0.2813516232925782, "pregrasp_position_error": 0.2813516232925782, "pregrasp_orientation_error_deg": 31.002547863095554, "p_pre": 0.6532163867031944, "p_ext": 0.0007323424021402989, "y_pre_raw": 0.0, "y_ext_raw": 0.0, "y_pre": 0.0, "y_ext": 0.0, "p_pre_source_strict": 0.0, "p_pre_source_assisted": 1.0, "p_pre_bump_applied": 1.0, "p_pre_base_score": 0.3064327734063886, "p_pre_strict_length": 0.0, "p_pre_assisted_length": 2.437859091160078, "p_pre_assisted_reliability": 1.0, "p_pre_post_assist_strict_feasible": 1.0, "p_pre_door_open_delta": 0.14098131656646729, "p_pre_door_quality": 0.6906423478883756, "p_pre_step_quality_mean": 0.5580604969833938, "p_pre_step_quality_min": 0.06412916537025937, "p_pre_step_quality_max": 0.9087429091731782, "p_pre_alignment_signed_mean": 0.09183444184037276, "p_pre_alignment_abs_mean": 0.19570644165738457, "p_pre_collision_count": 2.0, "p_pre_bad_collision_count": 0.0, "p_pre_best_goal_index": 0.0, "p_pre_num_goal_poses": 3.0, "p_pre_best_target_pose_x": 0.48597920661495675, "p_pre_best_target_pose_y": 0.20877655330287678, "p_pre_best_target_pose_z": 1.0409315380160333, "p_pre_best_target_pose_qx": 0.3684267312077635, "p_pre_best_target_pose_qy": 0.6665182899689807, "p_pre_best_target_pose_qz": 0.5652436766454914, "p_pre_best_target_pose_qw": 0.3170405319208814, "p_ext_initial_height": 1.0474814176559448, "p_ext_final_height": 1.0474814176559448, "p_ext_total_length": 0.0, "p_ext_already_grasped_start": 0.0, "p_ext_already_grasped_end": 0.0, "p_ext_num_milestones": 5.0, "p_ext_first_failed_milestone": 0.0, "p_ext_min_reliability": 0.0, "p_ext_mean_reliability": 0.0, "p_ext_approach_score": 0.0, "p_ext_retreat_score": 0.0, "three_view_visibility": 0.8366666666666667, "three_view_whole_tray_visibility": 0.8663898273273274, "full_view_visibility": 0.9682743484224966, "full_view_whole_tray_visibility": 0.9209066264247303, "front_grasp_visibility": 0.0, "front_tray_visibility": 0.0, "front_grasp_projected_count": 90.0, "front_grasp_visible_count": 0.0, "front_tray_projected_count": 254.0, "front_tray_visible_count": 0.0, "overhead_grasp_visibility": 0.34444444444444444, "overhead_tray_visibility": 0.033783783783783786, "overhead_grasp_projected_count": 90.0, "overhead_grasp_visible_count": 31.0, "overhead_tray_projected_count": 296.0, "overhead_tray_visible_count": 10.0, "wrist_right_grasp_visibility": 0.45555555555555555, "wrist_right_tray_visibility": 0.42567567567567566, "wrist_right_grasp_projected_count": 90.0, "wrist_right_grasp_visible_count": 41.0, "wrist_right_tray_projected_count": 148.0, "wrist_right_tray_visible_count": 63.0, "wrist_left_grasp_visibility": 0.7, "wrist_left_tray_visibility": 0.7673611111111112, "wrist_left_grasp_projected_count": 90.0, "wrist_left_grasp_visible_count": 63.0, "wrist_left_tray_projected_count": 288.0, "wrist_left_tray_visible_count": 221.0, "over_shoulder_left_grasp_visibility": 0.4444444444444444, "over_shoulder_left_tray_visibility": 0.07224334600760456, "over_shoulder_left_grasp_projected_count": 90.0, "over_shoulder_left_grasp_visible_count": 40.0, "over_shoulder_left_tray_projected_count": 263.0, "over_shoulder_left_tray_visible_count": 19.0, "over_shoulder_right_grasp_visibility": 0.4666666666666667, "over_shoulder_right_tray_visibility": 0.33962264150943394, "over_shoulder_right_grasp_projected_count": 90.0, "over_shoulder_right_grasp_visible_count": 42.0, "over_shoulder_right_tray_projected_count": 212.0, "over_shoulder_right_tray_visible_count": 72.0}
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artifacts/results/_smoke_iter30_batch_launcher/.episode0.tmp/frame_rows/frame_0171.debug.json
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