{ "requested_episodes": 1, "completed_episodes": 1, "unfinished_episodes": 0, "complete": true, "success_rate": 0.0, "completed_only": { "episodes": 1, "successes": 0.0, "success_rate": 0.0, "high_success_rate": 0.0, "lift_rates": { "0.02": 1.0, "0.05": 1.0, "0.1": 1.0, "0.15": 0.0 }, "mean_peak_lift_m": 0.12217026948928833, "drop_rate": 0.0, "invalid_episode_rate": 1.0 }, "matrix": [ { "dr_scale": 0.0, "bottle_x_bin": 2, "bottle_y_bin": 0, "episodes": 1, "successes": 0.0, "success_rate": 0.0, "high_success_rate": 0.0, "lift_rates": { "0.02": 1.0, "0.05": 1.0, "0.1": 1.0, "0.15": 0.0 }, "mean_peak_lift_m": 0.12217026948928833, "drop_rate": 0.0, "invalid_episode_rate": 1.0 } ], "episodes": [ { "success": 0.0, "high_success": 0.0, "max_clearance": 0.12217026948928833, "best_hold_s": 0.0, "best_high_hold_s": 0.0, "ever_lifted": 1.0, "ever_dropped": 0.0, "ever_bad_contact": 0.0, "max_penetration": 0.007635138928890228, "max_joint_speed": 0.5299668908119202, "max_force_ratio": 1.0, "nonfinite": 0.0, "elapsed_s": 12.600000381469727, "physics_overflow_bits": 0, "final_goal_error_m": 0.44200780987739563, "initial_layout_footprint_overlap": 0.0, "return_": 18.478595733642578, "dr_scale": 0.0, "bilateral_fraction": 0.14476190507411957, "world": 0, "bottle_local_xy": [ 0.18000000715255737, -0.12999999523162842 ], "terminated": true, "timeout": false, "bottle_x_bin": 2, "bottle_y_bin": 0, "invalid": true } ], "command": "evaluate", "vector_steps": 252, "seconds": 17.918861544691026, "policy": "supplied callable (CLI without checkpoint uses zero Cartesian action/open gripper)", "num_envs": 1, "contract": { "version": "mjlab-gs-cartesian-v4", "observation_mode": "state", "controller": "gpu-differential-ik", "arm_bias_compensation": true, "state_dim": 37, "goal_dim": 0, "goal_frame": "object-to-goal in robot/base; embedded in state", "action_dim": 7, "action_frame": "robot/base", "translation_m_per_step": 0.005, "rotation_rad_per_step": 0.017453292519943295, "gripper": "-1 closed; +1 open", "physics_dt": 0.001, "control_dt": 0.05, "rgb_shape": null, "rgb_dtype": null, "assets_manifest_sha256": "8eb22a0ebbc461bb728c2e2a0b601d6737a3fa3fd972dcbf2270d5cdabef9de0", "scene_sha256": "5be735fd530a190e8e287538ce232b101458b211d2990c03e6a1493d6a424dd7", "controller_details": { "ik_max_dq_rad": 0.02, "ik_delta_clip": "uniform direction-preserving", "joint_target_period_s": 0.008, "ik_damping": 0.005, "ik_orientation_weight": 0.2 } }, "task_spec": { "version": "bottle-lift-v5", "visual_actor_profile": null, "task_id": "Mjlab-GS-Bottle-UR5-State", "observation_mode": "state", "observations": { "actor": { "terms": { "joint_pos": { "func": "mjlab.envs.mdp.observations.joint_pos_rel", "params": {}, "noise": { "operation": "add", "_tensor_cache": {}, "n_min": -0.01, "n_max": 0.01 }, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true }, "joint_vel": { "func": "mjlab.envs.mdp.observations.joint_vel_rel", "params": {}, "noise": { "operation": "add", "_tensor_cache": {}, "n_min": -0.05, "n_max": 0.05 }, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true }, "ee_to_cube": { "func": "mjlab.tasks.manipulation.mdp.observations.ee_to_object_distance", "params": { "object_name": "bottle", "asset_cfg": { "name": "robot", "joint_names": null, "joint_ids": { "slice": [ null, null, null ] }, "body_names": null, "body_ids": { "slice": [ null, null, null ] }, "geom_names": null, "geom_ids": { "slice": [ null, null, null ] }, "site_names": [ "tcp" ], "site_ids": { "slice": [ null, null, null ] }, "actuator_names": null, "actuator_ids": { "slice": [ null, null, null ] }, "tendon_names": null, "tendon_ids": { "slice": [ null, null, null ] }, "camera_names": null, "camera_ids": { "slice": [ null, null, null ] }, "light_names": null, "light_ids": { "slice": [ null, null, null ] }, "material_names": null, "material_ids": { "slice": [ null, null, null ] }, "texture_names": null, "texture_ids": { "slice": [ null, null, null ] }, "pair_names": null, "pair_ids": { "slice": [ null, null, null ] }, "preserve_order": false } }, "noise": { "operation": "add", "_tensor_cache": {}, "n_min": -0.002, "n_max": 0.002 }, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true }, "cube_to_goal": { "func": "mjlab.tasks.manipulation.mdp.observations.object_to_goal_distance", "params": { "object_name": "bottle", "command_name": "lift_height" }, "noise": { "operation": "add", "_tensor_cache": {}, "n_min": -0.002, "n_max": 0.002 }, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true }, "actions": { "func": "mjlab.envs.mdp.observations.last_action", "params": {}, "noise": null, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true } }, "concatenate_terms": true, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "nan_policy": "disabled", "nan_check_per_term": true }, "critic": { "terms": { "joint_pos": { "func": "mjlab.envs.mdp.observations.joint_pos_rel", "params": {}, "noise": { "operation": "add", "_tensor_cache": {}, "n_min": -0.01, "n_max": 0.01 }, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true }, "joint_vel": { "func": "mjlab.envs.mdp.observations.joint_vel_rel", "params": {}, "noise": { "operation": "add", "_tensor_cache": {}, "n_min": -0.05, "n_max": 0.05 }, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true }, "ee_to_cube": { "func": "mjlab.tasks.manipulation.mdp.observations.ee_to_object_distance", "params": { "object_name": "bottle", "asset_cfg": { "name": "robot", "joint_names": null, "joint_ids": { "slice": [ null, null, null ] }, "body_names": null, "body_ids": { "slice": [ null, null, null ] }, "geom_names": null, "geom_ids": { "slice": [ null, null, null ] }, "site_names": [ "tcp" ], "site_ids": { "slice": [ null, null, null ] }, "actuator_names": null, "actuator_ids": { "slice": [ null, null, null ] }, "tendon_names": null, "tendon_ids": { "slice": [ null, null, null ] }, "camera_names": null, "camera_ids": { "slice": [ null, null, null ] }, "light_names": null, "light_ids": { "slice": [ null, null, null ] }, "material_names": null, "material_ids": { "slice": [ null, null, null ] }, "texture_names": null, "texture_ids": { "slice": [ null, null, null ] }, "pair_names": null, "pair_ids": { "slice": [ null, null, null ] }, "preserve_order": false } }, "noise": { "operation": "add", "_tensor_cache": {}, "n_min": -0.002, "n_max": 0.002 }, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true }, "cube_to_goal": { "func": "mjlab.tasks.manipulation.mdp.observations.object_to_goal_distance", "params": { "object_name": "bottle", "command_name": "lift_height" }, "noise": { "operation": "add", "_tensor_cache": {}, "n_min": -0.002, "n_max": 0.002 }, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true }, "actions": { "func": "mjlab.envs.mdp.observations.last_action", "params": {}, "noise": null, "clip": null, "scale": null, "delay_min_lag": 0, "delay_max_lag": 0, "delay_per_env": true, "delay_hold_prob": 0.0, "delay_update_period": 0, "delay_per_env_phase": true, "history_length": 0, "flatten_history_dim": true } }, "concatenate_terms": true, "concatenate_dim": -1, "enable_corruption": false, "history_length": null, "flatten_history_dim": true, "nan_policy": "disabled", "nan_check_per_term": true } }, "critic_dim": 37, "randomization": { "enabled": true, "nominal_fraction": 0, "bottle_edge_margin_m": 0.05, "bottle_yaw_deg": 180.0, "table_xy_m": 0.15, "table_yaw_deg": 15, "robot_xy_m": 0.1, "robot_yaw_deg": 15, "initial_joint_deg": [ 15, 10, 10, 15, 15, 30 ], "initial_gripper_open_min": 0.85, "camera_xyz_m": 0, "camera_rotation_deg": 0, "camera_focal_fraction": 0, "camera_principal_px": [ 0, 0 ], "friction_scale": [ 0.7, 1.3 ], "bottle_mass_scale": [ 0.8, 1.2 ], "joint_damping_scale": [ 0.8, 1.2 ], "light_gain": [ 1, 1 ], "material_gain": [ 1, 1 ], "exposure_gain": [ 1, 1 ], "white_balance": [ 1, 1 ], "image_noise_std_255": 0 }, "curriculum": { "enabled": false, "boundaries": [ 0, 20000, 50000, 100000, 200000 ], "scales": [ 0.05, 0.15, 0.35, 0.65, 1.0 ], "evaluation_scale": 0.0 }, "objective": { "lift_height_m": 0.1, "high_lift_height_m": 0.15, "hold_s": 2.0, "contact_force_n": 0.05, "max_hold_linear_speed": 0.15, "max_hold_angular_speed": 1.0, "max_penetration_m": 0.003, "hard_penetration_m": 0.02, "max_joint_speed": 1.57, "terminate_on_success": false, "contact_grace_s": 0.2, "capture_metrics": true }, "episode_length_s": 15.0, "scale_rewards_by_dt": true, "reward_profile": "mjlab-lift-cube-8ee51fbc", "goal": { "nominal_joint_pos": [ -3.522548046633501, -1.1518142048840005, 0.9810469344913387, -1.4231175467061197, -1.5491226335784967, -0.36253961360662956 ], "half_width_m": [ 0.05, 0.05, 0.03 ], "joint_spread_deg": [ 5.0, 5.0, 5.0, 5.0, 5.0, 5.0 ], "candidates": 16 }, "goal_frame": "robot/base; nominal TCP FK + bounded reachable joint proposals", "goal_observation_dim": 0, "rewards": { "lift": { "func": "mjlab.tasks.manipulation.mdp.rewards.staged_position_reward", "params": { "command_name": "lift_height", "object_name": "bottle", "reaching_std": 0.2, "bringing_std": 0.3, "asset_cfg": { "name": "robot", "joint_names": null, "joint_ids": { "slice": [ null, null, null ] }, "body_names": null, "body_ids": { "slice": [ null, null, null ] }, "geom_names": null, "geom_ids": { "slice": [ null, null, null ] }, "site_names": [ "tcp" ], "site_ids": { "slice": [ null, null, null ] }, "actuator_names": null, "actuator_ids": { "slice": [ null, null, null ] }, "tendon_names": null, "tendon_ids": { "slice": [ null, null, null ] }, "camera_names": null, "camera_ids": { "slice": [ null, null, null ] }, "light_names": null, "light_ids": { "slice": [ null, null, null ] }, "material_names": null, "material_ids": { "slice": [ null, null, null ] }, "texture_names": null, "texture_ids": { "slice": [ null, null, null ] }, "pair_names": null, "pair_ids": { "slice": [ null, null, null ] }, "preserve_order": false } }, "weight": 1.0 }, "lift_precise": { "func": "mjlab.tasks.manipulation.mdp.rewards.bring_object_reward", "params": { "command_name": "lift_height", "object_name": "bottle", "std": 0.05 }, "weight": 1.0 }, "action_rate_l2": { "func": "mjlab.envs.mdp.rewards.action_rate_l2", "params": {}, "weight": -0.01 }, "joint_pos_limits": { "func": "mjlab.envs.mdp.rewards.joint_pos_limits", "params": { "asset_cfg": { "name": "robot", "joint_names": [ ".*" ], "joint_ids": { "slice": [ null, null, null ] }, "body_names": null, "body_ids": { "slice": [ null, null, null ] }, "geom_names": null, "geom_ids": { "slice": [ null, null, null ] }, "site_names": null, "site_ids": { "slice": [ null, null, null ] }, "actuator_names": null, "actuator_ids": { "slice": [ null, null, null ] }, "tendon_names": null, "tendon_ids": { "slice": [ null, null, null ] }, "camera_names": null, "camera_ids": { "slice": [ null, null, null ] }, "light_names": null, "light_ids": { "slice": [ null, null, null ] }, "material_names": null, "material_ids": { "slice": [ null, null, null ] }, "texture_names": null, "texture_ids": { "slice": [ null, null, null ] }, "pair_names": null, "pair_ids": { "slice": [ null, null, null ] }, "preserve_order": false } }, "weight": -10.0 }, "joint_vel_hinge": { "func": "mjlab.tasks.manipulation.mdp.rewards.joint_velocity_hinge_penalty", "params": { "max_vel": 0.5, "asset_cfg": { "name": "robot", "joint_names": [ ".*" ], "joint_ids": { "slice": [ null, null, null ] }, "body_names": null, "body_ids": { "slice": [ null, null, null ] }, "geom_names": null, "geom_ids": { "slice": [ null, null, null ] }, "site_names": null, "site_ids": { "slice": [ null, null, null ] }, "actuator_names": null, "actuator_ids": { "slice": [ null, null, null ] }, "tendon_names": null, "tendon_ids": { "slice": [ null, null, null ] }, "camera_names": null, "camera_ids": { "slice": [ null, null, null ] }, "light_names": null, "light_ids": { "slice": [ null, null, null ] }, "material_names": null, "material_ids": { "slice": [ null, null, null ] }, "texture_names": null, "texture_ids": { "slice": [ null, null, null ] }, "pair_names": null, "pair_ids": { "slice": [ null, null, null ] }, "preserve_order": false } }, "weight": -0.01 } }, "commands": { "lift_height": { "resampling_time_range": [ 1000000000.0, 1000000000.0 ], "debug_vis": true, "entity_name": "bottle", "success_threshold": 0.05, "difficulty": "fixed", "target_position_range": { "x": [ 0.3, 0.5 ], "y": [ -0.2, 0.2 ], "z": [ 0.2, 0.4 ] }, "object_pose_range": null, "viz": { "target_color": [ 1.0, 0.5, 0.0, 0.3 ] } } }, "reward_curriculum": { "joint_vel_hinge_weight": { "func": "mjlab.envs.mdp.curriculums.reward_curriculum", "params": { "reward_name": "joint_vel_hinge", "stages": [ { "step": 0, "weight": -0.01 }, { "step": 12000, "weight": -0.1 }, { "step": 24000, "weight": -1.0 } ] } } } }, "note": "Fixed per-world episode quotas; no IK, reachability, visibility or collision-start rejection. No training.", "role": "learned scripted initialization actor; no PPO yet; not qualified", "seed": 2524, "scale": 0.0, "actor_sha256": "4b3242db3600d20bf20a193ab858c493337a43c27fd7b84391687102dcf63255" }