[ { "episode": 1, "world": 40, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 4793, "seconds": 239.65, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9963703751564026, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 5, "nudges": 18, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 0, "expert_failed": false, "max_penetration_m": 0.000553288497030735, "object_contact_peaks_m": { "box_box": 7.54344291635789e-05, "box_tube": 0.001323046162724495, "box_robot": 0.0001676820102147758, "box_room": 0.0016564129618927836, "tube_tube": 0.0016101766377687454, "tube_robot": 0.000553288497030735, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.251787781715393, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 2, "world": 32, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 4862, "seconds": 243.10000000000002, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9968039393424988, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 3, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005496367812156677, "object_contact_peaks_m": { "box_box": 0.0, "box_tube": 0.001276831142604351, "box_robot": 0.00015728473954368383, "box_room": 0.0019603967666625977, "tube_tube": 0.002215847373008728, "tube_robot": 0.0005496367812156677, "tube_room": 0.000612158328294754, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2504833936691284, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 3, "world": 54, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 4945, "seconds": 247.25, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.987211287021637, "first_box_touch_phase": "carry", "success": false, "expert_picks": 14, "recoveries": 4, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005984455347061157, "object_contact_peaks_m": { "box_box": 4.225166776450351e-05, "box_tube": 0.0011210665106773376, "box_robot": 0.0002136365365004167, "box_room": 0.0015448331832885742, "tube_tube": 0.002572709694504738, "tube_robot": 0.0005984455347061157, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.250854253768921, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 4, "world": 13, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5027, "seconds": 251.35000000000002, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9999433755874634, "first_box_touch_phase": "push", "success": false, "expert_picks": 14, "recoveries": 2, "nudges": 3, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0003911880776286125, "object_contact_peaks_m": { "box_box": 0.00010525350080570206, "box_tube": 0.0008624531328678131, "box_robot": 6.573204882442951e-05, "box_room": 0.0013480187626555562, "tube_tube": 0.0015391688793897629, "tube_robot": 0.0003911880776286125, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2514433860778809, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 5, "world": 44, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 5149, "seconds": 257.45, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9961388111114502, "first_box_touch_phase": "reach", "success": false, "expert_picks": 14, "recoveries": 4, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0004809573292732239, "object_contact_peaks_m": { "box_box": 0.0001302010496146977, "box_tube": 0.0012191906571388245, "box_robot": 0.0001908213598653674, "box_room": 0.0012516379356384277, "tube_tube": 0.0017081797122955322, "tube_robot": 0.0004809573292732239, "tube_room": 0.00046904757618904114, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2508472204208374, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 6, "world": 53, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 5197, "seconds": 259.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9854987859725952, "first_box_touch_phase": "push", "success": false, "expert_picks": 14, "recoveries": 6, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.00045411940664052963, "object_contact_peaks_m": { "box_box": 0.00012121204781578854, "box_tube": 0.0010748263448476791, "box_robot": 0.00026215839898213744, "box_room": 0.0015289782313629985, "tube_tube": 0.0015022698789834976, "tube_robot": 0.00045411940664052963, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2516255378723145, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 7, "world": 31, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5255, "seconds": 262.75, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9976450800895691, "first_box_touch_phase": "push", "success": false, "expert_picks": 15, "recoveries": 4, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.00055641308426857, "object_contact_peaks_m": { "box_box": 0.0, "box_tube": 0.0011940458789467812, "box_robot": 0.00022534822346642613, "box_room": 0.001473546028137207, "tube_tube": 0.001323118805885315, "tube_robot": 0.00055641308426857, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2514121532440186, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 8, "world": 21, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 5271, "seconds": 263.55, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9979466795921326, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 11, "recoveries": 9, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0006197169423103333, "object_contact_peaks_m": { "box_box": 0.00021347189613152295, "box_tube": 0.0014208173379302025, "box_robot": 0.00011481361434562132, "box_room": 0.0018957850988954306, "tube_tube": 0.0036954954266548157, "tube_robot": 0.0006197169423103333, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2505223751068115, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 9, "world": 59, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5444, "seconds": 272.2, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9983826875686646, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 8, "nudges": 5, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005579516291618347, "object_contact_peaks_m": { "box_box": 7.909558189567178e-05, "box_tube": 0.0009454311802983284, "box_robot": 8.555551175959408e-05, "box_room": 0.0012996791629120708, "tube_tube": 0.0010464154183864594, "tube_robot": 0.0005579516291618347, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2530320882797241, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 10, "world": 0, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 5496, "seconds": 274.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9847345948219299, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 6, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.000706271268427372, "object_contact_peaks_m": { "box_box": 0.00012211382272653282, "box_tube": 0.0015287352725863457, "box_robot": 6.438481796067208e-05, "box_room": 0.0017241054447367787, "tube_tube": 0.002096308395266533, "tube_robot": 0.000706271268427372, "tube_room": 0.00038321688771247864, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2489959001541138, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 11, "world": 12, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5577, "seconds": 278.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9947776198387146, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 8, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005853204056620598, "object_contact_peaks_m": { "box_box": 7.603252015542239e-05, "box_tube": 0.0012497249990701675, "box_robot": 0.0003849644272122532, "box_room": 0.001771092414855957, "tube_tube": 0.001954207196831703, "tube_robot": 0.0005853204056620598, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2411285638809204, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 12, "world": 1, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5696, "seconds": 284.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.998943030834198, "first_box_touch_phase": "select", "success": false, "expert_picks": 15, "recoveries": 10, "nudges": 0, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0004563732072710991, "object_contact_peaks_m": { "box_box": 0.0002832233440130949, "box_tube": 0.0012371344491839409, "box_robot": 0.00022675214859191328, "box_room": 0.0013431310653686523, "tube_tube": 0.0015941392630338669, "tube_robot": 0.0004563732072710991, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2504029273986816, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 13, "world": 61, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 5705, "seconds": 285.25, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9925318956375122, "first_box_touch_phase": "push", "success": false, "expert_picks": 13, "recoveries": 8, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005196668207645416, "object_contact_peaks_m": { "box_box": 4.925467510474846e-05, "box_tube": 0.0010626157745718956, "box_robot": 0.00012090241216355935, "box_room": 0.0017156797694042325, "tube_tube": 0.001477295532822609, "tube_robot": 0.0005196668207645416, "tube_room": 0.00035186484456062317, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2536725997924805, "dr_scale": 0.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 14, "world": 29, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5768, "seconds": 288.40000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9962995648384094, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 8, "nudges": 6, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005580438300967216, "object_contact_peaks_m": { "box_box": 0.00014195915719028562, "box_tube": 0.0013474784791469574, "box_robot": 0.0003257276548538357, "box_room": 0.001556992530822754, "tube_tube": 0.0018172618001699448, "tube_robot": 0.0005580438300967216, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2535676956176758, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 15, "world": 34, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5786, "seconds": 289.3, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9999634027481079, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 6, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 3, "expert_failed": false, "max_penetration_m": 0.0006691878661513329, "object_contact_peaks_m": { "box_box": 0.00018750273738987744, "box_tube": 0.0009452542290091515, "box_robot": 1.4669200254502357e-07, "box_room": 0.0013022422790527344, "tube_tube": 0.0037024952471256256, "tube_robot": 0.0006691878661513329, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.249152660369873, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 16, "world": 23, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 5822, "seconds": 291.1, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9910580515861511, "first_box_touch_phase": "push", "success": false, "expert_picks": 14, "recoveries": 10, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005860598757863045, "object_contact_peaks_m": { "box_box": 4.354742850409821e-05, "box_tube": 0.0014454387128353119, "box_robot": 0.0002884730347432196, "box_room": 0.0017597076948732138, "tube_tube": 0.001111254096031189, "tube_robot": 0.0005860598757863045, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2454848289489746, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 17, "world": 39, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 1, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 2, "nonfinite": false, "steps": 5928, "seconds": 296.40000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.997021496295929, "first_box_touch_phase": "push", "success": false, "expert_picks": 13, "recoveries": 20, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005381088703870773, "object_contact_peaks_m": { "box_box": 0.0, "box_tube": 0.0012424755841493607, "box_robot": 0.00028270212351344526, "box_room": 0.0014302730560302734, "tube_tube": 0.002036603167653084, "tube_robot": 0.0005381088703870773, "tube_room": 0.001198386773467064, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.250024676322937, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 18, "world": 25, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 5978, "seconds": 298.90000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9931405782699585, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 11, "recoveries": 11, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005469182506203651, "object_contact_peaks_m": { "box_box": 7.643146091140807e-05, "box_tube": 0.0009422823786735535, "box_robot": 0.00017044326523318887, "box_room": 0.0011664032936096191, "tube_tube": 0.0014436785131692886, "tube_robot": 0.0005469182506203651, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2509562969207764, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 19, "world": 50, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5981, "seconds": 299.05, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9953977465629578, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 6, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0006220545619726181, "object_contact_peaks_m": { "box_box": 0.00011615156836342067, "box_tube": 0.001443730667233467, "box_robot": 0.00010109759750775993, "box_room": 0.002543151378631592, "tube_tube": 0.001983141526579857, "tube_robot": 0.0006220545619726181, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.252841830253601, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 20, "world": 6, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6008, "seconds": 300.40000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9977297782897949, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 12, "nudges": 7, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0004609096795320511, "object_contact_peaks_m": { "box_box": 0.0, "box_tube": 0.0012015551328659058, "box_robot": 0.00019420649914536625, "box_room": 0.0012731552124023438, "tube_tube": 0.0015304535627365112, "tube_robot": 0.0004609096795320511, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2521770000457764, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 21, "world": 4, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 6056, "seconds": 302.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9752015471458435, "first_box_touch_phase": "reach", "success": false, "expert_picks": 13, "recoveries": 8, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005290154367685318, "object_contact_peaks_m": { "box_box": 8.588840864831582e-05, "box_tube": 0.0010231882333755493, "box_robot": 0.00019940118363592774, "box_room": 0.0013476014137268066, "tube_tube": 0.002536861225962639, "tube_robot": 0.0005290154367685318, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2506840229034424, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 22, "world": 7, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 3, "picked": 12, "picked_fraction": 0.8, "all_picked": false, "outside": 4, "nonfinite": false, "steps": 6261, "seconds": 313.05, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": false, "physics_clean": false, "validity_reasons": [ "box_toppled", "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": -0.9925802946090698, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 11, "recoveries": 13, "nudges": 0, "abandoned": 1, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005561942234635353, "object_contact_peaks_m": { "box_box": 0.0, "box_tube": 0.0014517121016979218, "box_robot": 7.908147381385788e-05, "box_room": 0.002456173300743103, "tube_tube": 0.003032522276043892, "tube_robot": 0.0005561942234635353, "tube_room": 0.0023492369800806046, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2483222484588623, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 23, "world": 47, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 6289, "seconds": 314.45000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9974756240844727, "first_box_touch_phase": "select", "success": false, "expert_picks": 14, "recoveries": 14, "nudges": 8, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005537522956728935, "object_contact_peaks_m": { "box_box": 6.771347398171201e-05, "box_tube": 0.0010732896625995636, "box_robot": 0.00021474523236975074, "box_room": 0.0014008880825713277, "tube_tube": 0.002661053091287613, "tube_robot": 0.0005537522956728935, "tube_room": 0.0012476034462451935, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2508736848831177, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 24, "world": 3, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6298, "seconds": 314.90000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9890592098236084, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 15, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005914820358157158, "object_contact_peaks_m": { "box_box": 0.00019250369223300368, "box_tube": 0.0011865850538015366, "box_robot": 0.00025127583649009466, "box_room": 0.0015811322955414653, "tube_tube": 0.002249864861369133, "tube_robot": 0.0005914820358157158, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.250913381576538, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 25, "world": 10, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6341, "seconds": 317.05, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9686392545700073, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 14, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005519799888134003, "object_contact_peaks_m": { "box_box": 0.0001395716390106827, "box_tube": 0.0011954698711633682, "box_robot": 0.00024056521942839026, "box_room": 0.0015224219532683492, "tube_tube": 0.002258436754345894, "tube_robot": 0.0005519799888134003, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2525429725646973, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 26, "world": 28, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 6354, "seconds": 317.70000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9941902756690979, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 11, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0006051156669855118, "object_contact_peaks_m": { "box_box": 0.000179362585186027, "box_tube": 0.001349305734038353, "box_robot": 0.0003799161349888891, "box_room": 0.0018686054972931743, "tube_tube": 0.00183945894241333, "tube_robot": 0.0006051156669855118, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2522553205490112, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 27, "world": 9, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6379, "seconds": 318.95000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9972550272941589, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 16, "nudges": 0, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005722623318433762, "object_contact_peaks_m": { "box_box": 0.00019957343465648592, "box_tube": 0.0012856116518378258, "box_robot": 0.00018629219266586006, "box_room": 0.0013862253399565816, "tube_tube": 0.001392485573887825, "tube_robot": 0.0005722623318433762, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2502385377883911, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 28, "world": 20, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6539, "seconds": 326.95000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9915361404418945, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 15, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0006824461743235588, "object_contact_peaks_m": { "box_box": 0.00013926721294410527, "box_tube": 0.0013443045318126678, "box_robot": 3.992291385657154e-05, "box_room": 0.0014229416847229004, "tube_tube": 0.002023765817284584, "tube_robot": 0.0006824461743235588, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2520965337753296, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 29, "world": 56, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 6550, "seconds": 327.5, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9984824657440186, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 14, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005300566554069519, "object_contact_peaks_m": { "box_box": 0.0001760958111844957, "box_tube": 0.0010131914168596268, "box_robot": 0.0001693403464742005, "box_room": 0.0013319849967956543, "tube_tube": 0.001583026722073555, "tube_robot": 0.0005300566554069519, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2536922693252563, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 30, "world": 42, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 1, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 6966, "seconds": 348.3, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9883730411529541, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 24, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005980096757411957, "object_contact_peaks_m": { "box_box": 0.0001779504818841815, "box_tube": 0.001123524270951748, "box_robot": 0.0002751154243014753, "box_room": 0.001352667692117393, "tube_tube": 0.0027931947261095047, "tube_robot": 0.0005980096757411957, "tube_room": 0.003158336505293846, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2690317630767822, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 31, "world": 43, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 7173, "seconds": 358.65000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9607874155044556, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 17, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 3, "expert_failed": false, "max_penetration_m": 0.0005187215283513069, "object_contact_peaks_m": { "box_box": 0.00016603819676674902, "box_tube": 0.0012490460649132729, "box_robot": 0.00019636856450233608, "box_room": 0.0014871954917907715, "tube_tube": 0.0017768125981092453, "tube_robot": 0.0005187215283513069, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2503995895385742, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 32, "world": 45, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 7317, "seconds": 365.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9983102083206177, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 19, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005220584571361542, "object_contact_peaks_m": { "box_box": 0.00018715570331551135, "box_tube": 0.0011392300948500633, "box_robot": 8.542831346858293e-05, "box_room": 0.0016345380572602153, "tube_tube": 0.002048427239060402, "tube_robot": 0.0005220584571361542, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.3919845819473267, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 33, "world": 33, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 7346, "seconds": 367.3, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.913336455821991, "first_box_touch_phase": "push", "success": false, "expert_picks": 12, "recoveries": 22, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.000631372444331646, "object_contact_peaks_m": { "box_box": 0.000155807108967565, "box_tube": 0.0017071831971406937, "box_robot": 0.00011132350482512265, "box_room": 0.0017195938853546977, "tube_tube": 0.0015177223831415176, "tube_robot": 0.000631372444331646, "tube_room": 0.0002556629478931427, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2473560571670532, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 34, "world": 26, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 7495, "seconds": 374.75, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9924821257591248, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 18, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 3, "expert_failed": false, "max_penetration_m": 0.0007382351905107498, "object_contact_peaks_m": { "box_box": 0.0001481224171584472, "box_tube": 0.001227111555635929, "box_robot": 0.0002360264479648322, "box_room": 0.0017755696317180991, "tube_tube": 0.0017304830253124237, "tube_robot": 0.0007382351905107498, "tube_room": 0.00020583346486091614, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2517430782318115, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 35, "world": 52, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 7547, "seconds": 377.35, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9998793005943298, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 22, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005874931812286377, "object_contact_peaks_m": { "box_box": 5.489080649567768e-05, "box_tube": 0.0013635661453008652, "box_robot": 5.622713069897145e-05, "box_room": 0.0013964176177978516, "tube_tube": 0.0017613470554351807, "tube_robot": 0.0005874931812286377, "tube_room": 0.00051083043217659, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2515283823013306, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 36, "world": 37, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 7739, "seconds": 386.95000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9987471699714661, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 26, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005274098366498947, "object_contact_peaks_m": { "box_box": 0.000147695915075019, "box_tube": 0.0015142494812607765, "box_robot": 0.00016696780221536756, "box_room": 0.0013697146205231547, "tube_tube": 0.0014051459729671478, "tube_robot": 0.0005274098366498947, "tube_room": 0.0003216452896595001, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2510402202606201, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 37, "world": 46, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 7932, "seconds": 396.6, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9941275119781494, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 18, "nudges": 0, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 6, "expert_failed": false, "max_penetration_m": 0.0006063403561711311, "object_contact_peaks_m": { "box_box": 0.00018814340000972152, "box_tube": 0.0016016755253076553, "box_robot": 0.00022768808412365615, "box_room": 0.0018895863322541118, "tube_tube": 0.002829514443874359, "tube_robot": 0.0006063403561711311, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2512943744659424, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 38, "world": 8, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 7996, "seconds": 399.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9680484533309937, "first_box_touch_phase": "select", "success": false, "expert_picks": 14, "recoveries": 25, "nudges": 0, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 3, "expert_failed": false, "max_penetration_m": 0.0005968054756522179, "object_contact_peaks_m": { "box_box": 0.00013852106349077076, "box_tube": 0.0011711949482560158, "box_robot": 0.0004012341669294983, "box_room": 0.002142608165740967, "tube_tube": 0.002209670841693878, "tube_robot": 0.0005968054756522179, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.252906322479248, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 39, "world": 63, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 8008, "seconds": 400.40000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9990772604942322, "first_box_touch_phase": "reach", "success": false, "expert_picks": 16, "recoveries": 25, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005767941474914551, "object_contact_peaks_m": { "box_box": 0.00015023376909084618, "box_tube": 0.001116713508963585, "box_robot": 0.00020792029681615531, "box_room": 0.0018097758293151855, "tube_tube": 0.003201385959982872, "tube_robot": 0.0005767941474914551, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2534066438674927, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 40, "world": 55, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 8190, "seconds": 409.5, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9984654784202576, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 25, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005536414682865143, "object_contact_peaks_m": { "box_box": 0.0001080881484085694, "box_tube": 0.0012420136481523514, "box_robot": 0.0001991208700928837, "box_room": 0.0013448596000671387, "tube_tube": 0.0014757905155420303, "tube_robot": 0.0005536414682865143, "tube_room": 0.0004013963043689728, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2500077486038208, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 41, "world": 2, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 8215, "seconds": 410.75, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9962754249572754, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 25, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 3, "expert_failed": false, "max_penetration_m": 0.0005770288407802582, "object_contact_peaks_m": { "box_box": 9.859221609076485e-05, "box_tube": 0.001355004496872425, "box_robot": 0.00022988715500105172, "box_room": 0.0014452934265136719, "tube_tube": 0.0013928860425949097, "tube_robot": 0.0005770288407802582, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.451134443283081, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 42, "world": 15, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 8351, "seconds": 417.55, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9918495416641235, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 26, "nudges": 7, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0006277076900005341, "object_contact_peaks_m": { "box_box": 7.350507075898349e-05, "box_tube": 0.0011826623231172562, "box_robot": 0.00013874104479327798, "box_room": 0.0014178752899169922, "tube_tube": 0.00174778513610363, "tube_robot": 0.0006277076900005341, "tube_room": 0.0005046911537647247, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2529338598251343, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 43, "world": 38, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 8420, "seconds": 421.0, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": false, "physics_clean": false, "validity_reasons": [ "joint_speed", "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9976301193237305, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 18, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005195168778300285, "object_contact_peaks_m": { "box_box": 7.090269355103374e-05, "box_tube": 0.0015416266396641731, "box_robot": 0.00022653014457318932, "box_room": 0.0015000700950622559, "tube_tube": 0.0016627218574285507, "tube_robot": 0.0005195168778300285, "tube_room": 0.00017024949193000793, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.6832835674285889, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 44, "world": 14, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 8524, "seconds": 426.20000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9955794215202332, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 11, "recoveries": 29, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.000577547587454319, "object_contact_peaks_m": { "box_box": 0.00014535030641127378, "box_tube": 0.0013486295938491821, "box_robot": 0.0002239980094600469, "box_room": 0.0019003747729584575, "tube_tube": 0.0034778397530317307, "tube_robot": 0.000577547587454319, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.250930666923523, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 45, "world": 62, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 8641, "seconds": 432.05, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9977635145187378, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 23, "nudges": 9, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005667954683303833, "object_contact_peaks_m": { "box_box": 9.95545051409863e-05, "box_tube": 0.0014209579676389694, "box_robot": 0.00019166448328178376, "box_room": 0.0015841127606108785, "tube_tube": 0.001392122358083725, "tube_robot": 0.0005667954683303833, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.25065279006958, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 46, "world": 18, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 8779, "seconds": 438.95000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9956733584403992, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 39, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0007063187658786774, "object_contact_peaks_m": { "box_box": 9.0275083493907e-05, "box_tube": 0.0009824968874454498, "box_robot": 0.00023252516984939575, "box_room": 0.0016305445460602641, "tube_tube": 0.002523304894566536, "tube_robot": 0.0007063187658786774, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2424201965332031, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 47, "world": 48, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 8906, "seconds": 445.3, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9988664388656616, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 28, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0006035072728991508, "object_contact_peaks_m": { "box_box": 0.00018681323854252696, "box_tube": 0.0013251667842268944, "box_robot": 0.0004325896443333477, "box_room": 0.001640915870666504, "tube_tube": 0.0024323705583810806, "tube_robot": 0.0006035072728991508, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2507580518722534, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 48, "world": 16, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 2, "nonfinite": false, "steps": 8927, "seconds": 446.35, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9979936480522156, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 27, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 4, "expert_failed": false, "max_penetration_m": 0.0006985925137996674, "object_contact_peaks_m": { "box_box": 0.0, "box_tube": 0.002255275845527649, "box_robot": 7.537259807577357e-05, "box_room": 0.0021956562995910645, "tube_tube": 0.0024861562997102737, "tube_robot": 0.0006985925137996674, "tube_room": 0.0006741471588611603, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.3918187618255615, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 49, "world": 58, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 5, "picked_fraction": 0.3333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 9318, "seconds": 465.90000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9870792031288147, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 5, "recoveries": 60, "nudges": 0, "abandoned": 3, "left_wall_blocked": 5, "left_missed": 5, "left_never_abandoned": 0, "rounds": 4, "expert_failed": true, "max_penetration_m": 0.0005096718668937683, "object_contact_peaks_m": { "box_box": 0.00010774061956908554, "box_tube": 0.0015242844820022583, "box_robot": 0.00011644367623375729, "box_room": 0.001376032829284668, "tube_tube": 0.0029845014214515686, "tube_robot": 0.0005096718668937683, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2514296770095825, "dr_scale": 0.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 50, "world": 22, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 7, "picked_fraction": 0.4666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 10138, "seconds": 506.90000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9864963889122009, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 7, "recoveries": 60, "nudges": 4, "abandoned": 5, "left_wall_blocked": 2, "left_missed": 6, "left_never_abandoned": 0, "rounds": 4, "expert_failed": true, "max_penetration_m": 0.0005981326103210449, "object_contact_peaks_m": { "box_box": 0.00013076182221993804, "box_tube": 0.001395038329064846, "box_robot": 0.0002875397040043026, "box_room": 0.001678287866525352, "tube_tube": 0.00155537948012352, "tube_robot": 0.0005981326103210449, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2511510848999023, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 51, "world": 19, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 11, "picked_fraction": 0.7333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 10236, "seconds": 511.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9961861371994019, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 8, "recoveries": 52, "nudges": 0, "abandoned": 4, "left_wall_blocked": 3, "left_missed": 1, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0007849596440792084, "object_contact_peaks_m": { "box_box": 0.0001470390852773562, "box_tube": 0.0013124225661158562, "box_robot": 0.00033457891549915075, "box_room": 0.0018056033877655864, "tube_tube": 0.00366022065281868, "tube_robot": 0.0007849596440792084, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.246960997581482, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 52, "world": 27, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 10392, "seconds": 519.6, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.99334716796875, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 49, "nudges": 7, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 3, "expert_failed": false, "max_penetration_m": 0.0006810370832681656, "object_contact_peaks_m": { "box_box": 8.65818074089475e-05, "box_tube": 0.0013028411194682121, "box_robot": 0.00014861587260384113, "box_room": 0.0017088662134483457, "tube_tube": 0.0013312064111232758, "tube_robot": 0.0006810370832681656, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2479168176651, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 53, "world": 30, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 8, "picked_fraction": 0.5333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 10574, "seconds": 528.7, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9829501509666443, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 8, "recoveries": 60, "nudges": 10, "abandoned": 1, "left_wall_blocked": 3, "left_missed": 4, "left_never_abandoned": 0, "rounds": 3, "expert_failed": true, "max_penetration_m": 0.000513625331223011, "object_contact_peaks_m": { "box_box": 0.00010100116924149916, "box_tube": 0.0014021610841155052, "box_robot": 0.00020969290926586837, "box_room": 0.001510024187155068, "tube_tube": 0.0014794599264860153, "tube_robot": 0.000513625331223011, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.251470685005188, "dr_scale": 0.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 54, "world": 11, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 10780, "seconds": 539.0, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9983399510383606, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 42, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 4, "expert_failed": false, "max_penetration_m": 0.0005785664543509483, "object_contact_peaks_m": { "box_box": 7.357343565672636e-05, "box_tube": 0.0016848212108016014, "box_robot": 0.00011955511581618339, "box_room": 0.0019271374912932515, "tube_tube": 0.0016716737300157547, "tube_robot": 0.0005785664543509483, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2488772869110107, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 55, "world": 24, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 10791, "seconds": 539.5500000000001, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9968512058258057, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 42, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0008104583248496056, "object_contact_peaks_m": { "box_box": 0.00012971711112186313, "box_tube": 0.0012948522344231606, "box_robot": 0.00019558781059458852, "box_room": 0.001329183578491211, "tube_tube": 0.003939718008041382, "tube_robot": 0.0008104583248496056, "tube_room": 0.0008357353508472443, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2647091150283813, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 56, "world": 5, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 10815, "seconds": 540.75, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9936679005622864, "first_box_touch_phase": "grasp", "success": false, "expert_picks": 16, "recoveries": 41, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 4, "expert_failed": false, "max_penetration_m": 0.0005540680140256882, "object_contact_peaks_m": { "box_box": 0.00016944578965194523, "box_tube": 0.001418217085301876, "box_robot": 0.00014990595809649676, "box_room": 0.0014740824699401855, "tube_tube": 0.0023950617760419846, "tube_robot": 0.0005540680140256882, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2488245964050293, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 57, "world": 36, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 7, "picked_fraction": 0.4666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 10979, "seconds": 548.95, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9982382655143738, "first_box_touch_phase": "reach", "success": false, "expert_picks": 6, "recoveries": 60, "nudges": 8, "abandoned": 4, "left_wall_blocked": 2, "left_missed": 6, "left_never_abandoned": 0, "rounds": 4, "expert_failed": true, "max_penetration_m": 0.0006340323016047478, "object_contact_peaks_m": { "box_box": 0.00014033913612365723, "box_tube": 0.0015850551426410675, "box_robot": 0.00014738072059117258, "box_room": 0.0013659595279023051, "tube_tube": 0.0018690768629312515, "tube_robot": 0.0006340323016047478, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2859578132629395, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 58, "world": 41, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 11555, "seconds": 577.75, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9955060482025146, "first_box_touch_phase": "select", "success": false, "expert_picks": 13, "recoveries": 48, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 4, "expert_failed": false, "max_penetration_m": 0.0006168140098452568, "object_contact_peaks_m": { "box_box": 0.00012606079690158367, "box_tube": 0.0018980586901307106, "box_robot": 0.00033428907045163214, "box_room": 0.001659512403421104, "tube_tube": 0.0023831073194742203, "tube_robot": 0.0006168140098452568, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.252319574356079, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 59, "world": 35, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 11714, "seconds": 585.7, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": false, "physics_clean": false, "validity_reasons": [ "joint_speed", "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9921703338623047, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 48, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 4, "expert_failed": false, "max_penetration_m": 0.0004949942231178284, "object_contact_peaks_m": { "box_box": 0.000183330470463261, "box_tube": 0.001524520106613636, "box_robot": 0.00023569853510707617, "box_room": 0.0016852021217346191, "tube_tube": 0.0018064584583044052, "tube_robot": 0.0004949942231178284, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.694279432296753, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 60, "world": 60, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 7, "picked_fraction": 0.4666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 12154, "seconds": 607.7, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9983670711517334, "first_box_touch_phase": "select", "success": false, "expert_picks": 7, "recoveries": 60, "nudges": 12, "abandoned": 2, "left_wall_blocked": 4, "left_missed": 4, "left_never_abandoned": 0, "rounds": 5, "expert_failed": true, "max_penetration_m": 0.0005341572687029839, "object_contact_peaks_m": { "box_box": 0.00017445228877477348, "box_tube": 0.0014851121231913567, "box_robot": 8.625361078884453e-05, "box_room": 0.0016915202140808105, "tube_tube": 0.0019127018749713898, "tube_robot": 0.0005341572687029839, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.5217140913009644, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 61, "world": 17, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 11, "picked_fraction": 0.7333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 12856, "seconds": 642.8000000000001, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9976276159286499, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 11, "recoveries": 60, "nudges": 3, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 2, "left_never_abandoned": 0, "rounds": 5, "expert_failed": true, "max_penetration_m": 0.0006334148347377777, "object_contact_peaks_m": { "box_box": 8.569774945499375e-05, "box_tube": 0.001241784542798996, "box_robot": 0.00035249392385594547, "box_room": 0.001538097858428955, "tube_tube": 0.0014293994754552841, "tube_robot": 0.0006334148347377777, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.557701826095581, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 62, "world": 57, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 12980, "seconds": 649.0, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9984476566314697, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 41, "nudges": 11, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 4, "expert_failed": false, "max_penetration_m": 0.0005513895303010941, "object_contact_peaks_m": { "box_box": 0.00010461273632245138, "box_tube": 0.0014071911573410034, "box_robot": 0.00011359713244019076, "box_room": 0.0014719963073730469, "tube_tube": 0.0023743100464344025, "tube_robot": 0.0005513895303010941, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2515285015106201, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 63, "world": 51, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 13118, "seconds": 655.9000000000001, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": false, "physics_clean": false, "validity_reasons": [ "joint_speed", "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9974989891052246, "first_box_touch_phase": "push", "success": false, "expert_picks": 13, "recoveries": 57, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005279704928398132, "object_contact_peaks_m": { "box_box": 0.00011811938747996464, "box_tube": 0.0013497984036803246, "box_robot": 0.00020436821796465665, "box_room": 0.0016117691993713379, "tube_tube": 0.003623778000473976, "tube_robot": 0.0005279704928398132, "tube_room": 0.00045957043766975403, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.613659381866455, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 64, "world": 49, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 13722, "seconds": 686.1, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9983099699020386, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 57, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0008263261988759041, "object_contact_peaks_m": { "box_box": 0.00024267545086331666, "box_tube": 0.001732691191136837, "box_robot": 0.0002658430894371122, "box_room": 0.0015404223231598735, "tube_tube": 0.004325035959482193, "tube_robot": 0.0008263261988759041, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.3161193132400513, "dr_scale": 1.0, "source_run": "tb15_v10_s21", "seed": 21 }, { "episode": 1, "world": 0, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 4670, "seconds": 233.5, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": false, "min_box_upright": 0.999441385269165, "first_box_touch_phase": null, "success": false, "expert_picks": 13, "recoveries": 3, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.00048316363245248795, "object_contact_peaks_m": { "box_box": 0.00020308265811763704, "box_tube": 0.0011715423315763474, "box_robot": 0.0, "box_room": 0.0013075470924377441, "tube_tube": 0.0016770120710134506, "tube_robot": 0.00048316363245248795, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.250976800918579, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 2, "world": 40, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 4688, "seconds": 234.4, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9986600875854492, "first_box_touch_phase": "reach", "success": false, "expert_picks": 15, "recoveries": 5, "nudges": 15, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 0, "expert_failed": false, "max_penetration_m": 0.0004802905023097992, "object_contact_peaks_m": { "box_box": 0.00012355083890724927, "box_tube": 0.001222682185471058, "box_robot": 0.0001461464853491634, "box_room": 0.0016816852148622274, "tube_tube": 0.0014564450830221176, "tube_robot": 0.0004802905023097992, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2512867450714111, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 3, "world": 20, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 1, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 5083, "seconds": 254.15, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9982167482376099, "first_box_touch_phase": "push", "success": false, "expert_picks": 14, "recoveries": 6, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005548577755689621, "object_contact_peaks_m": { "box_box": 0.00018902088049799204, "box_tube": 0.0011043688282370567, "box_robot": 0.00013527351256925613, "box_room": 0.0011976957321166992, "tube_tube": 0.0019673630595207214, "tube_robot": 0.0005548577755689621, "tube_room": 0.004148624837398529, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.250731110572815, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 4, "world": 7, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 3, "nonfinite": false, "steps": 5260, "seconds": 263.0, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9958560466766357, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 8, "nudges": 3, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005789501592516899, "object_contact_peaks_m": { "box_box": 2.8199168809805997e-05, "box_tube": 0.0016674520447850227, "box_robot": 0.00021370146714616567, "box_room": 0.0015254615573212504, "tube_tube": 0.0016644299030303955, "tube_robot": 0.0005789501592516899, "tube_room": 0.00047649815678596497, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2504055500030518, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 5, "world": 63, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 5269, "seconds": 263.45, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9981433153152466, "first_box_touch_phase": "reach", "success": false, "expert_picks": 13, "recoveries": 3, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005098087713122368, "object_contact_peaks_m": { "box_box": 0.00018900119175668806, "box_tube": 0.0011611981317400932, "box_robot": 0.00010076868056785315, "box_room": 0.001204967382363975, "tube_tube": 0.002085600048303604, "tube_robot": 0.0005098087713122368, "tube_room": 0.0004462786018848419, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2514084577560425, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 6, "world": 49, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 5301, "seconds": 265.05, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": false, "min_box_upright": 0.9972229599952698, "first_box_touch_phase": null, "success": false, "expert_picks": 14, "recoveries": 5, "nudges": 3, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0006619244813919067, "object_contact_peaks_m": { "box_box": 0.0, "box_tube": 0.0011823438107967377, "box_robot": 0.0, "box_room": 0.0019217728404328227, "tube_tube": 0.0016042646020650864, "tube_robot": 0.0006619244813919067, "tube_room": 0.0007299967110157013, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2503262758255005, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 7, "world": 18, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 3, "nonfinite": false, "steps": 5374, "seconds": 268.7, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9958549737930298, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 9, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005736369639635086, "object_contact_peaks_m": { "box_box": 0.00012727077410090715, "box_tube": 0.0014665527269244194, "box_robot": 0.00019687310850713402, "box_room": 0.0016000865725800395, "tube_tube": 0.002256162464618683, "tube_robot": 0.0005736369639635086, "tube_room": 0.0004918761551380157, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.248904824256897, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 8, "world": 37, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5374, "seconds": 268.7, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9950709342956543, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 7, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005112979561090469, "object_contact_peaks_m": { "box_box": 0.00022452190751209855, "box_tube": 0.0009851101785898209, "box_robot": 0.00012341623369138688, "box_room": 0.001550733926706016, "tube_tube": 0.0018677115440368652, "tube_robot": 0.0005112979561090469, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2534058094024658, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 9, "world": 47, "n_tubes": 14, "n_spawned": 15, "spilled_while_settling": 1, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5405, "seconds": 270.25, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9927625060081482, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 6, "nudges": 5, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005615521222352982, "object_contact_peaks_m": { "box_box": 0.00025860825553536415, "box_tube": 0.0014204476028680801, "box_robot": 0.00021659476624336094, "box_room": 0.0013487933902069926, "tube_tube": 0.001206895336508751, "tube_robot": 0.0005615521222352982, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2501052618026733, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 10, "world": 24, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 5443, "seconds": 272.15000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9998733997344971, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 5, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005565797910094261, "object_contact_peaks_m": { "box_box": 0.00012582592898979783, "box_tube": 0.0012812502682209015, "box_robot": 1.9716751921805553e-05, "box_room": 0.001784980297088623, "tube_tube": 0.0019193310290575027, "tube_robot": 0.0005565797910094261, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.250173807144165, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 11, "world": 61, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5460, "seconds": 273.0, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9791629910469055, "first_box_touch_phase": "push", "success": false, "expert_picks": 14, "recoveries": 10, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005215313285589218, "object_contact_peaks_m": { "box_box": 8.54620011523366e-05, "box_tube": 0.0013236692175269127, "box_robot": 0.0001711162185529247, "box_room": 0.0015102624893188477, "tube_tube": 0.0011500734835863113, "tube_robot": 0.0005215313285589218, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.251520037651062, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 12, "world": 5, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 5525, "seconds": 276.25, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9965065717697144, "first_box_touch_phase": "push", "success": false, "expert_picks": 14, "recoveries": 6, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005806665867567062, "object_contact_peaks_m": { "box_box": 8.754213195061311e-05, "box_tube": 0.001355556771159172, "box_robot": 0.0002728528925217688, "box_room": 0.0018216967582702637, "tube_tube": 0.0016832035034894943, "tube_robot": 0.0005806665867567062, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2523428201675415, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 13, "world": 11, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 5567, "seconds": 278.35, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9971477389335632, "first_box_touch_phase": "push", "success": false, "expert_picks": 13, "recoveries": 15, "nudges": 3, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005658064037561417, "object_contact_peaks_m": { "box_box": 0.00014821576769463718, "box_tube": 0.0014997245743870735, "box_robot": 0.00010194756760029122, "box_room": 0.0013890862464904785, "tube_tube": 0.0016304906457662582, "tube_robot": 0.0005658064037561417, "tube_room": 0.0006830282509326935, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2515006065368652, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 14, "world": 46, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 5579, "seconds": 278.95, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9950924515724182, "first_box_touch_phase": "push", "success": false, "expert_picks": 14, "recoveries": 9, "nudges": 6, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005718683823943138, "object_contact_peaks_m": { "box_box": 6.134897557785735e-05, "box_tube": 0.0012527555227279663, "box_robot": 0.00010503132216399536, "box_room": 0.0016679762629792094, "tube_tube": 0.0022741351276636124, "tube_robot": 0.0005718683823943138, "tube_room": 0.0003104396164417267, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.252939224243164, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 15, "world": 16, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5621, "seconds": 281.05, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9976315498352051, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 10, "nudges": 5, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0006125010550022125, "object_contact_peaks_m": { "box_box": 7.735155668342486e-05, "box_tube": 0.0014469446614384651, "box_robot": 0.00017391503206454217, "box_room": 0.0020616650581359863, "tube_tube": 0.002365255728363991, "tube_robot": 0.0006125010550022125, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2512253522872925, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 16, "world": 53, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5673, "seconds": 283.65000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9968230128288269, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 9, "nudges": 3, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.000486656092107296, "object_contact_peaks_m": { "box_box": 0.00020350689010228962, "box_tube": 0.0010793572291731834, "box_robot": 0.00013409616076387465, "box_room": 0.0015727280406281352, "tube_tube": 0.0030494797974824905, "tube_robot": 0.000486656092107296, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2501225471496582, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 17, "world": 31, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 5737, "seconds": 286.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9924864768981934, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 13, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.000601702369749546, "object_contact_peaks_m": { "box_box": 7.929331331979483e-05, "box_tube": 0.0010929973796010017, "box_robot": 0.00028428679797798395, "box_room": 0.0017727612284943461, "tube_tube": 0.0009216684848070145, "tube_robot": 0.000601702369749546, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2518035173416138, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 18, "world": 23, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 5806, "seconds": 290.3, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9971913695335388, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 13, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005759904161095619, "object_contact_peaks_m": { "box_box": 6.1682854720857e-05, "box_tube": 0.0013077212497591972, "box_robot": 0.00027016704552806914, "box_room": 0.0014798640040680766, "tube_tube": 0.0018717199563980103, "tube_robot": 0.0005759904161095619, "tube_room": 0.000724155455827713, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2518037557601929, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 19, "world": 34, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 5997, "seconds": 299.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9897996187210083, "first_box_touch_phase": "reach", "success": false, "expert_picks": 14, "recoveries": 10, "nudges": 3, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0006353771314024925, "object_contact_peaks_m": { "box_box": 7.616685616085306e-05, "box_tube": 0.001411912962794304, "box_robot": 0.0001402410853188485, "box_room": 0.0017853380413725972, "tube_tube": 0.002253429964184761, "tube_robot": 0.0006353771314024925, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2521661520004272, "dr_scale": 0.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 20, "world": 51, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6018, "seconds": 300.90000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": false, "min_box_upright": 0.9998628497123718, "first_box_touch_phase": null, "success": false, "expert_picks": 15, "recoveries": 11, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.000532117672264576, "object_contact_peaks_m": { "box_box": 0.0001044968594214879, "box_tube": 0.001319151371717453, "box_robot": 0.0, "box_room": 0.0017518401145935059, "tube_tube": 0.0016571935266256332, "tube_robot": 0.000532117672264576, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2503077983856201, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 21, "world": 22, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 6114, "seconds": 305.7, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9978694915771484, "first_box_touch_phase": "push", "success": false, "expert_picks": 14, "recoveries": 7, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 3, "expert_failed": false, "max_penetration_m": 0.000599762424826622, "object_contact_peaks_m": { "box_box": 0.0002519774134270847, "box_tube": 0.0012809643521904945, "box_robot": 0.00010639577521942556, "box_room": 0.0016180871753022075, "tube_tube": 0.0015664473176002502, "tube_robot": 0.000599762424826622, "tube_room": 0.00016446784138679504, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2505340576171875, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 22, "world": 17, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 6177, "seconds": 308.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9962599277496338, "first_box_touch_phase": "reach", "success": false, "expert_picks": 13, "recoveries": 11, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005150791257619858, "object_contact_peaks_m": { "box_box": 0.00012212677393108606, "box_tube": 0.0011735539883375168, "box_robot": 0.0002716026792768389, "box_room": 0.0018014907836914062, "tube_tube": 0.0016742181032896042, "tube_robot": 0.0005150791257619858, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2493829727172852, "dr_scale": 0.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 23, "world": 25, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6512, "seconds": 325.6, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9975774884223938, "first_box_touch_phase": "select", "success": false, "expert_picks": 14, "recoveries": 14, "nudges": 7, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0006001358851790428, "object_contact_peaks_m": { "box_box": 0.00011705551150953397, "box_tube": 0.001581711694598198, "box_robot": 0.00019252154743298888, "box_room": 0.00186234712600708, "tube_tube": 0.0014204829931259155, "tube_robot": 0.0006001358851790428, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2512930631637573, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 24, "world": 12, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6587, "seconds": 329.35, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9970601201057434, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 13, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005578827112913132, "object_contact_peaks_m": { "box_box": 9.804403089219704e-05, "box_tube": 0.0010134754702448845, "box_robot": 1.8880806237575598e-05, "box_room": 0.0022306442260742188, "tube_tube": 0.001730581745505333, "tube_robot": 0.0005578827112913132, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2496143579483032, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 25, "world": 42, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 6620, "seconds": 331.0, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9944425821304321, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 23, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0006473502144217491, "object_contact_peaks_m": { "box_box": 8.832014282234013e-05, "box_tube": 0.0014201607555150986, "box_robot": 0.00026575097581371665, "box_room": 0.0014618635177612305, "tube_tube": 0.0020738020539283752, "tube_robot": 0.0006473502144217491, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2614508867263794, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 26, "world": 62, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6776, "seconds": 338.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9992933869361877, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 17, "nudges": 0, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0006129620596766472, "object_contact_peaks_m": { "box_box": 9.53288035816513e-05, "box_tube": 0.0015922468155622482, "box_robot": 0.00012132112169638276, "box_room": 0.001460254192352295, "tube_tube": 0.0020788442343473434, "tube_robot": 0.0006129620596766472, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2498998641967773, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 27, "world": 48, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6844, "seconds": 342.20000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9958850145339966, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 17, "recoveries": 14, "nudges": 3, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0006268713623285294, "object_contact_peaks_m": { "box_box": 0.0001821062614908442, "box_tube": 0.0014813002198934555, "box_robot": 4.378131416160613e-05, "box_room": 0.0018190741539001465, "tube_tube": 0.0025539882481098175, "tube_robot": 0.0006268713623285294, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2494086027145386, "dr_scale": 0.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 28, "world": 32, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 6896, "seconds": 344.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9982714653015137, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 10, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005554063245654106, "object_contact_peaks_m": { "box_box": 9.512709220871329e-05, "box_tube": 0.0011643655598163605, "box_robot": 0.00026782622444443405, "box_room": 0.0018139481544494629, "tube_tube": 0.002661561593413353, "tube_robot": 0.0005554063245654106, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.250932216644287, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 29, "world": 35, "n_tubes": 14, "n_spawned": 15, "spilled_while_settling": 1, "dropped_on_floor": 0, "picked": 11, "picked_fraction": 0.7857142857142857, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 7070, "seconds": 353.5, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9974876046180725, "first_box_touch_phase": "push", "success": false, "expert_picks": 13, "recoveries": 19, "nudges": 0, "abandoned": 3, "left_wall_blocked": 3, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005563432350754738, "object_contact_peaks_m": { "box_box": 0.00014392350567504764, "box_tube": 0.0012847958132624626, "box_robot": 0.0001447626418666914, "box_room": 0.0021207332611083984, "tube_tube": 0.0024486109614372253, "tube_robot": 0.0005563432350754738, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.4543325901031494, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 30, "world": 54, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 7129, "seconds": 356.45000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.98517245054245, "first_box_touch_phase": "reach", "success": false, "expert_picks": 13, "recoveries": 17, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0006514927372336388, "object_contact_peaks_m": { "box_box": 0.00019701513519976288, "box_tube": 0.0016435356810688972, "box_robot": 0.00018078206630889326, "box_room": 0.0018656848696991801, "tube_tube": 0.0018166881054639816, "tube_robot": 0.0006514927372336388, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2520713806152344, "dr_scale": 0.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 31, "world": 36, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 7180, "seconds": 359.0, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9917842149734497, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 19, "nudges": 9, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 1, "expert_failed": false, "max_penetration_m": 0.0005808016285300255, "object_contact_peaks_m": { "box_box": 0.00020068649610038847, "box_tube": 0.0013404367491602898, "box_robot": 0.0002632054383866489, "box_room": 0.0014029145240783691, "tube_tube": 0.0025544557720422745, "tube_robot": 0.0005808016285300255, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2479907274246216, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 32, "world": 14, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 7203, "seconds": 360.15000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9492983222007751, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 19, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005921153351664543, "object_contact_peaks_m": { "box_box": 9.281461825594306e-05, "box_tube": 0.0012929979711771011, "box_robot": 0.0001665786694502458, "box_room": 0.0013253091601654887, "tube_tube": 0.0025109369307756424, "tube_robot": 0.0005921153351664543, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2515605688095093, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 33, "world": 2, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 7246, "seconds": 362.3, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9967442750930786, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 17, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0006076870486140251, "object_contact_peaks_m": { "box_box": 0.00010977144120261073, "box_tube": 0.0011941753327846527, "box_robot": 0.00014808362175244838, "box_room": 0.0013673901557922363, "tube_tube": 0.0036568790674209595, "tube_robot": 0.0006076870486140251, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2516554594039917, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 34, "world": 57, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 7456, "seconds": 372.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9960320591926575, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 13, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0005808053538203239, "object_contact_peaks_m": { "box_box": 0.00011312657443340868, "box_tube": 0.001390746794641018, "box_robot": 0.00012466432235669345, "box_room": 0.0019456148147583008, "tube_tube": 0.0015412624925374985, "tube_robot": 0.0005808053538203239, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2498762607574463, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 35, "world": 1, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 7636, "seconds": 381.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9967569708824158, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 22, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005342960357666016, "object_contact_peaks_m": { "box_box": 0.00013593939365819097, "box_tube": 0.0011226991191506386, "box_robot": 0.0003645152901299298, "box_room": 0.0018453000811859965, "tube_tube": 0.0019793249666690826, "tube_robot": 0.0005342960357666016, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2644208669662476, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 36, "world": 43, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 7637, "seconds": 381.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": false, "physics_clean": false, "validity_reasons": [ "joint_speed", "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9858790040016174, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 26, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.000619770959019661, "object_contact_peaks_m": { "box_box": 7.39850293030031e-05, "box_tube": 0.0013109594583511353, "box_robot": 0.0002884122950490564, "box_room": 0.0015915632247924805, "tube_tube": 0.002229517325758934, "tube_robot": 0.000619770959019661, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.6642149686813354, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 37, "world": 33, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 7803, "seconds": 390.15000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9987225532531738, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 24, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0006266683340072632, "object_contact_peaks_m": { "box_box": 0.0001565211859997362, "box_tube": 0.0013285307213664055, "box_robot": 5.5776912631699815e-05, "box_room": 0.0019170044688507915, "tube_tube": 0.0015010442584753036, "tube_robot": 0.0006266683340072632, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2518911361694336, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 38, "world": 29, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 8016, "seconds": 400.8, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9935436844825745, "first_box_touch_phase": "push", "success": false, "expert_picks": 14, "recoveries": 22, "nudges": 3, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 2, "expert_failed": false, "max_penetration_m": 0.0006016707047820091, "object_contact_peaks_m": { "box_box": 8.594807150075212e-05, "box_tube": 0.001440189778804779, "box_robot": 0.000288389011984691, "box_room": 0.0018210412235930562, "tube_tube": 0.0020200740545988083, "tube_robot": 0.0006016707047820091, "tube_room": 0.00044240429997444153, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.249135971069336, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 39, "world": 10, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 8049, "seconds": 402.45000000000005, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9948101043701172, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 19, "nudges": 4, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 3, "expert_failed": false, "max_penetration_m": 0.0006110537797212601, "object_contact_peaks_m": { "box_box": 0.00015785837604198605, "box_tube": 0.001324034295976162, "box_robot": 0.0002944680454675108, "box_room": 0.0017325279768556356, "tube_tube": 0.0020001064985990524, "tube_robot": 0.0006110537797212601, "tube_room": 0.0006139464676380157, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2507293224334717, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 40, "world": 58, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 7, "picked_fraction": 0.4666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 8052, "seconds": 402.6, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9982914924621582, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 7, "recoveries": 60, "nudges": 0, "abandoned": 4, "left_wall_blocked": 0, "left_missed": 8, "left_never_abandoned": 0, "rounds": 2, "expert_failed": true, "max_penetration_m": 0.0004304470494389534, "object_contact_peaks_m": { "box_box": 6.57396885799244e-05, "box_tube": 0.0011504366993904114, "box_robot": 8.300782792503014e-05, "box_room": 0.0011599063873291016, "tube_tube": 0.001611875370144844, "tube_robot": 0.0004304470494389534, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2494231462478638, "dr_scale": 0.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 41, "world": 30, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 8375, "seconds": 418.75, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9955875277519226, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 27, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0006232578307390213, "object_contact_peaks_m": { "box_box": 4.9634178139967844e-05, "box_tube": 0.001476908102631569, "box_robot": 0.0003768862225115299, "box_room": 0.0015397669048979878, "tube_tube": 0.001622956246137619, "tube_robot": 0.0006232578307390213, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2491251230239868, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 42, "world": 4, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 8526, "seconds": 426.3, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9951781034469604, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 16, "recoveries": 28, "nudges": 1, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 4, "expert_failed": false, "max_penetration_m": 0.0005937730893492699, "object_contact_peaks_m": { "box_box": 0.0, "box_tube": 0.001431480050086975, "box_robot": 0.00010355289123253897, "box_room": 0.001604318618774414, "tube_tube": 0.003505287691950798, "tube_robot": 0.0005937730893492699, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.248077154159546, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 43, "world": 8, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 8983, "seconds": 449.15000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.995772123336792, "first_box_touch_phase": "push", "success": false, "expert_picks": 11, "recoveries": 29, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0011069271713495255, "object_contact_peaks_m": { "box_box": 0.0001387985685141757, "box_tube": 0.001360572874546051, "box_robot": 0.0002851298777386546, "box_room": 0.001461148145608604, "tube_tube": 0.005346416495740414, "tube_robot": 0.0011069271713495255, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2513868808746338, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 44, "world": 39, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 8, "picked_fraction": 0.5333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 9057, "seconds": 452.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9979304075241089, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 8, "recoveries": 60, "nudges": 3, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 6, "left_never_abandoned": 0, "rounds": 3, "expert_failed": true, "max_penetration_m": 0.0004663439467549324, "object_contact_peaks_m": { "box_box": 0.00013713059888686985, "box_tube": 0.0013647247105836868, "box_robot": 9.352082997793332e-05, "box_room": 0.0013387799263000488, "tube_tube": 0.0031242910772562027, "tube_robot": 0.0004663439467549324, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2504215240478516, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 45, "world": 50, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 9521, "seconds": 476.05, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9928736686706543, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 43, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005098516121506691, "object_contact_peaks_m": { "box_box": 0.0001407818781444803, "box_tube": 0.001299247145652771, "box_robot": 0.0002187775244237855, "box_room": 0.0015078185824677348, "tube_tube": 0.001791076734662056, "tube_robot": 0.0005098516121506691, "tube_room": 0.0008008666336536407, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.5382122993469238, "dr_scale": 0.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 46, "world": 38, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 9988, "seconds": 499.40000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9902853965759277, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 11, "recoveries": 35, "nudges": 1, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0008684266358613968, "object_contact_peaks_m": { "box_box": 0.00021442420256789774, "box_tube": 0.0017695333808660507, "box_robot": 0.0002846810093615204, "box_room": 0.0016183257102966309, "tube_tube": 0.0031301099807024, "tube_robot": 0.0008684266358613968, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2512115240097046, "dr_scale": 0.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 47, "world": 6, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 8, "picked_fraction": 0.5333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 10138, "seconds": 506.90000000000003, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": false, "physics_clean": false, "validity_reasons": [ "joint_speed", "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9921984076499939, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 8, "recoveries": 60, "nudges": 0, "abandoned": 2, "left_wall_blocked": 3, "left_missed": 4, "left_never_abandoned": 0, "rounds": 4, "expert_failed": true, "max_penetration_m": 0.0005613639950752258, "object_contact_peaks_m": { "box_box": 0.0002495255903340876, "box_tube": 0.001303154043853283, "box_robot": 0.0001919265923788771, "box_room": 0.0014319419860839844, "tube_tube": 0.0025506243109703064, "tube_robot": 0.0005613639950752258, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.6859633922576904, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 48, "world": 26, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 8, "picked_fraction": 0.5333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 10255, "seconds": 512.75, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9985626339912415, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 6, "recoveries": 60, "nudges": 1, "abandoned": 2, "left_wall_blocked": 3, "left_missed": 4, "left_never_abandoned": 0, "rounds": 4, "expert_failed": true, "max_penetration_m": 0.000534864142537117, "object_contact_peaks_m": { "box_box": 9.51822439674288e-05, "box_tube": 0.0011952146887779236, "box_robot": 0.00027868826873600483, "box_room": 0.0013223886489868164, "tube_tube": 0.0022873375564813614, "tube_robot": 0.000534864142537117, "tube_room": 0.00010355189442634583, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2507432699203491, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 49, "world": 52, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 10297, "seconds": 514.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9849249124526978, "first_box_touch_phase": "reach", "success": false, "expert_picks": 14, "recoveries": 36, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005151545628905296, "object_contact_peaks_m": { "box_box": 8.5974890680518e-05, "box_tube": 0.0013322876766324043, "box_robot": 0.00020538522221613675, "box_room": 0.0012758374214172363, "tube_tube": 0.002147149294614792, "tube_robot": 0.0005151545628905296, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.5119760036468506, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 50, "world": 55, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 10461, "seconds": 523.0500000000001, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.991508424282074, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 12, "recoveries": 57, "nudges": 0, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0006307102739810944, "object_contact_peaks_m": { "box_box": 0.00011944553261855617, "box_tube": 0.0012565823271870613, "box_robot": 0.00023817709006834775, "box_room": 0.0014898179797455668, "tube_tube": 0.0014069639146327972, "tube_robot": 0.0006307102739810944, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.250200629234314, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 51, "world": 21, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 12, "picked_fraction": 0.8, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 10530, "seconds": 526.5, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": false, "physics_clean": false, "validity_reasons": [ "joint_speed", "box_penetration" ], "box_touched": true, "min_box_upright": 0.9925591349601746, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 11, "recoveries": 60, "nudges": 0, "abandoned": 0, "left_wall_blocked": 2, "left_missed": 1, "left_never_abandoned": 0, "rounds": 8, "expert_failed": true, "max_penetration_m": 0.0004940154030919075, "object_contact_peaks_m": { "box_box": 0.0002594940015114844, "box_tube": 0.0012801429256796837, "box_robot": 0.00017899763770401478, "box_room": 0.0014473199844360352, "tube_tube": 0.00128093920648098, "tube_robot": 0.0004940154030919075, "tube_room": 0.00013645365834236145, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.6875858306884766, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 52, "world": 9, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 1, "nonfinite": false, "steps": 10618, "seconds": 530.9, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9821308255195618, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 46, "nudges": 9, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 3, "expert_failed": false, "max_penetration_m": 0.0006512794643640518, "object_contact_peaks_m": { "box_box": 8.834074105834588e-05, "box_tube": 0.001720145344734192, "box_robot": 0.0002035151410382241, "box_room": 0.0018398761749267578, "tube_tube": 0.002779340371489525, "tube_robot": 0.0006512794643640518, "tube_room": 0.00022353604435920715, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2530826330184937, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 53, "world": 56, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 10622, "seconds": 531.1, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration" ], "box_touched": true, "min_box_upright": 0.9988048672676086, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 15, "recoveries": 41, "nudges": 2, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 4, "expert_failed": false, "max_penetration_m": 0.0005602622404694557, "object_contact_peaks_m": { "box_box": 0.00015526771312579513, "box_tube": 0.001490824855864048, "box_robot": 0.0001690669741947204, "box_room": 0.0015777944354340434, "tube_tube": 0.0012900382280349731, "tube_robot": 0.0005602622404694557, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2502514123916626, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 54, "world": 27, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 6, "picked_fraction": 0.4, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 10673, "seconds": 533.65, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.998378574848175, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 6, "recoveries": 60, "nudges": 21, "abandoned": 5, "left_wall_blocked": 2, "left_missed": 7, "left_never_abandoned": 0, "rounds": 3, "expert_failed": true, "max_penetration_m": 0.0009123301133513451, "object_contact_peaks_m": { "box_box": 0.0001488572743255645, "box_tube": 0.0019249580800533295, "box_robot": 0.00014204364561010152, "box_room": 0.0025783777236938477, "tube_tube": 0.004552914761006832, "tube_robot": 0.0009123301133513451, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2372304201126099, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 55, "world": 19, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 15, "picked_fraction": 1.0, "all_picked": true, "outside": 0, "nonfinite": false, "steps": 11009, "seconds": 550.45, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9990307092666626, "first_box_touch_phase": "reopen", "success": false, "expert_picks": 15, "recoveries": 51, "nudges": 0, "abandoned": 0, "left_wall_blocked": 0, "left_missed": 0, "left_never_abandoned": 0, "rounds": 4, "expert_failed": false, "max_penetration_m": 0.0005903476849198341, "object_contact_peaks_m": { "box_box": 0.00013591887545771897, "box_tube": 0.0012620976194739342, "box_robot": 0.0002090953494189307, "box_room": 0.0017030832823365927, "tube_tube": 0.0017040707170963287, "tube_robot": 0.0005903476849198341, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.249937653541565, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 56, "world": 13, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 7, "picked_fraction": 0.4666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 11127, "seconds": 556.35, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9862645864486694, "first_box_touch_phase": "push", "success": false, "expert_picks": 6, "recoveries": 60, "nudges": 15, "abandoned": 2, "left_wall_blocked": 4, "left_missed": 4, "left_never_abandoned": 0, "rounds": 4, "expert_failed": true, "max_penetration_m": 0.0006033862009644508, "object_contact_peaks_m": { "box_box": 0.00019248480384703726, "box_tube": 0.0014294171705842018, "box_robot": 0.00023531171609647572, "box_room": 0.0014002321986481547, "tube_tube": 0.0026554036885499954, "tube_robot": 0.0006033862009644508, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.3813588619232178, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 57, "world": 59, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 11, "picked_fraction": 0.7333333333333333, "all_picked": false, "outside": 1, "nonfinite": false, "steps": 11264, "seconds": 563.2, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9953385591506958, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 10, "recoveries": 60, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 3, "left_never_abandoned": 0, "rounds": 5, "expert_failed": true, "max_penetration_m": 0.0005915975198149681, "object_contact_peaks_m": { "box_box": 0.00014630636724177748, "box_tube": 0.0014550043269991875, "box_robot": 0.00022298975090961903, "box_room": 0.0015001894207671285, "tube_tube": 0.0015075728297233582, "tube_robot": 0.0005915975198149681, "tube_room": 0.0007668919861316681, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2930281162261963, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 58, "world": 28, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 9, "picked_fraction": 0.6, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 11372, "seconds": 568.6, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9934309124946594, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 9, "recoveries": 60, "nudges": 0, "abandoned": 0, "left_wall_blocked": 4, "left_missed": 2, "left_never_abandoned": 0, "rounds": 5, "expert_failed": true, "max_penetration_m": 0.0006188508123159409, "object_contact_peaks_m": { "box_box": 0.0001542700920253992, "box_tube": 0.0020420579239726067, "box_robot": 0.00019203145348001271, "box_room": 0.001597166177816689, "tube_tube": 0.0025780294090509415, "tube_robot": 0.0006188508123159409, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2512590885162354, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 59, "world": 41, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 9, "picked_fraction": 0.6, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 11717, "seconds": 585.85, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": false, "physics_clean": false, "validity_reasons": [ "joint_speed", "box_penetration" ], "box_touched": true, "min_box_upright": 0.9927502274513245, "first_box_touch_phase": "push", "success": false, "expert_picks": 8, "recoveries": 60, "nudges": 6, "abandoned": 1, "left_wall_blocked": 2, "left_missed": 4, "left_never_abandoned": 0, "rounds": 5, "expert_failed": true, "max_penetration_m": 0.0006354637444019318, "object_contact_peaks_m": { "box_box": 0.00020389533892739564, "box_tube": 0.0015961779281497002, "box_robot": 0.0002365281106904149, "box_room": 0.0017178653506562114, "tube_tube": 0.0014373604208230972, "tube_robot": 0.0006354637444019318, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.683437466621399, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 60, "world": 60, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 13, "picked_fraction": 0.8666666666666667, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 11748, "seconds": 587.4, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": false, "physics_clean": false, "validity_reasons": [ "joint_speed", "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9984643459320068, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 13, "recoveries": 44, "nudges": 1, "abandoned": 2, "left_wall_blocked": 2, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0014311745762825012, "object_contact_peaks_m": { "box_box": 0.00015132242697291076, "box_tube": 0.0014904625713825226, "box_robot": 0.0002202024479629472, "box_room": 0.001602470874786377, "tube_tube": 0.006387465633451939, "tube_robot": 0.0014311745762825012, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.6461021900177002, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 61, "world": 44, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 11918, "seconds": 595.9, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9981064200401306, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 41, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0006209844723343849, "object_contact_peaks_m": { "box_box": 0.0001059875576174818, "box_tube": 0.0014334870502352715, "box_robot": 0.00023964358842931688, "box_room": 0.0018915532855316997, "tube_tube": 0.004663450643420219, "tube_robot": 0.0006209844723343849, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.3384276628494263, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 62, "world": 15, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 14, "picked_fraction": 0.9333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 12476, "seconds": 623.8000000000001, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9903528094291687, "first_box_touch_phase": "nudge_reach", "success": false, "expert_picks": 14, "recoveries": 48, "nudges": 0, "abandoned": 1, "left_wall_blocked": 1, "left_missed": 0, "left_never_abandoned": 0, "rounds": 8, "expert_failed": false, "max_penetration_m": 0.0005419747903943062, "object_contact_peaks_m": { "box_box": 0.00013025944645050913, "box_tube": 0.0012484192848205566, "box_robot": 0.0002430143504170701, "box_room": 0.0014037491055205464, "tube_tube": 0.0025604870170354843, "tube_robot": 0.0005419747903943062, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2889726161956787, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 63, "world": 3, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 8, "picked_fraction": 0.5333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 12735, "seconds": 636.75, "timed_out": false, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9985679388046265, "first_box_touch_phase": "push", "success": false, "expert_picks": 8, "recoveries": 60, "nudges": 1, "abandoned": 0, "left_wall_blocked": 4, "left_missed": 3, "left_never_abandoned": 0, "rounds": 5, "expert_failed": true, "max_penetration_m": 0.0005905302241444588, "object_contact_peaks_m": { "box_box": 0.00016224871797021478, "box_tube": 0.001285887323319912, "box_robot": 0.00020866734848823398, "box_room": 0.0014070868492126465, "tube_tube": 0.002299373969435692, "tube_robot": 0.0005905302241444588, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.464773416519165, "dr_scale": 0.0, "source_run": "tb15_v10_s22", "seed": 22 }, { "episode": 64, "world": 45, "n_tubes": 15, "n_spawned": 15, "spilled_while_settling": 0, "dropped_on_floor": 0, "picked": 11, "picked_fraction": 0.7333333333333333, "all_picked": false, "outside": 0, "nonfinite": false, "steps": 14700, "seconds": 735.0, "timed_out": true, "time_cap_s": 735.0, "valid": false, "robot_clean": true, "physics_clean": false, "validity_reasons": [ "box_penetration", "tube_penetration" ], "box_touched": true, "min_box_upright": 0.9942781329154968, "first_box_touch_phase": "push", "success": false, "expert_picks": 11, "recoveries": 59, "nudges": 4, "abandoned": 0, "left_wall_blocked": 4, "left_missed": 0, "left_never_abandoned": 0, "rounds": 6, "expert_failed": false, "max_penetration_m": 0.0006201164796948433, "object_contact_peaks_m": { "box_box": 0.0002002368273679167, "box_tube": 0.001685185357928276, "box_robot": 0.0002793577441480011, "box_room": 0.001495182397775352, "tube_tube": 0.0026511792093515396, "tube_robot": 0.0006201164796948433, "tube_room": 0.0, "robot_robot": 0.0, "robot_room": 0.0, "room_room": 0.0 }, "max_joint_speed": 1.2498468160629272, "dr_scale": 1.0, "source_run": "tb15_v10_s22", "seed": 22 } ]