Hugging Face's logo

Datasets:
a3124371940
/
radeonvla_reflex_physical_1k

Tasks:
Robotics
Modalities:
Tabular
Text
Formats:
json
Size:
< 1K
Tags:
lerobot
smolvla
amd-rocm
genesis
radeonvla-reflex
Libraries:
Datasets
pandas
Polars
License:
Dataset card Data Studio Files
xet
 Community
1
a3124371940 commited on
Commit
ebe4cf9
·
verified ·
1 Parent(s): 62e0c18

Upload folder using huggingface_hub (part 3)

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. certificates/episode_000500.json +113 -0
  2. certificates/episode_000501.json +113 -0
  3. certificates/episode_000502.json +113 -0
  4. certificates/episode_000503.json +113 -0
  5. certificates/episode_000504.json +113 -0
  6. certificates/episode_000505.json +113 -0
  7. certificates/episode_000506.json +113 -0
  8. certificates/episode_000507.json +113 -0
  9. certificates/episode_000508.json +113 -0
  10. certificates/episode_000509.json +113 -0
  11. certificates/episode_000510.json +113 -0
  12. certificates/episode_000511.json +113 -0
  13. certificates/episode_000512.json +113 -0
  14. certificates/episode_000513.json +113 -0
  15. certificates/episode_000514.json +113 -0
  16. certificates/episode_000515.json +113 -0
  17. certificates/episode_000516.json +113 -0
  18. certificates/episode_000517.json +113 -0
  19. certificates/episode_000518.json +113 -0
  20. certificates/episode_000519.json +113 -0
  21. certificates/episode_000520.json +113 -0
  22. certificates/episode_000521.json +113 -0
  23. certificates/episode_000522.json +113 -0
  24. certificates/episode_000523.json +113 -0
  25. certificates/episode_000524.json +113 -0
  26. certificates/episode_000525.json +113 -0
  27. certificates/episode_000526.json +113 -0
  28. certificates/episode_000527.json +113 -0
  29. certificates/episode_000528.json +113 -0
  30. certificates/episode_000529.json +113 -0
  31. certificates/episode_000530.json +113 -0
  32. certificates/episode_000531.json +113 -0
  33. certificates/episode_000532.json +113 -0
  34. certificates/episode_000533.json +113 -0
  35. certificates/episode_000534.json +113 -0
  36. certificates/episode_000535.json +113 -0
  37. certificates/episode_000536.json +113 -0
  38. certificates/episode_000537.json +113 -0
  39. certificates/episode_000538.json +113 -0
  40. certificates/episode_000539.json +113 -0
  41. certificates/episode_000540.json +113 -0
  42. certificates/episode_000541.json +113 -0
  43. certificates/episode_000542.json +113 -0
  44. certificates/episode_000543.json +113 -0
  45. certificates/episode_000544.json +113 -0
  46. certificates/episode_000545.json +113 -0
  47. certificates/episode_000546.json +113 -0
  48. certificates/episode_000547.json +113 -0
  49. certificates/episode_000548.json +113 -0
  50. certificates/episode_000549.json +113 -0
certificates/episode_000500.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 500,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23116,
7
+ "instruction": "Sort the lemon into the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 238,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27764886518025417,
27
+ 0.20887957741070795
28
+ ],
29
+ "lemon": [
30
+ 0.3248540100995408,
31
+ -0.00869900581137666
32
+ ],
33
+ "plum": [
34
+ 0.2716046469518346,
35
+ -0.20718386722218363
36
+ ],
37
+ "apple": [
38
+ 0.38179658283145224,
39
+ 0.09908344275575638
40
+ ],
41
+ "orange": [
42
+ 0.3817197894412515,
43
+ -0.10335021279099219
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11975014691366712
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3258280454192997
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.337153561931837
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.11255314476607978
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1766316976749758,
65
+ "mass_ratios": {
66
+ "banana": 1.1690217490681203,
67
+ "lemon": 1.0984917739232103,
68
+ "plum": 0.853395095079403,
69
+ "apple": 0.907242941243249,
70
+ "orange": 1.0782690011564176,
71
+ "white_left_bowl": 0.8946218917418212,
72
+ "blue_left_bowl": 0.8356315623290673,
73
+ "white_right_bowl": 1.0862199933173837,
74
+ "blue_right_bowl": 1.1035016456501932
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5235190987586975,
90
+ 0.3241311311721802,
91
+ 0.7778778672218323
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000501.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 501,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23117,
7
+ "instruction": "Sort the lemon into the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 224,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2771604711828645,
27
+ 0.22365056532360983
28
+ ],
29
+ "lemon": [
30
+ 0.32240025535878947,
31
+ -0.010388654989212712
32
+ ],
33
+ "plum": [
34
+ 0.27119514441587583,
35
+ -0.20825187080533167
36
+ ],
37
+ "apple": [
38
+ 0.3820307273679537,
39
+ 0.10022064826561979
40
+ ],
41
+ "orange": [
42
+ 0.383098964218859,
43
+ -0.09868466543026391
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.34088774314017156
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.1265362054333674
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3493002492974157
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.12541216872078662
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.9715952362631634,
65
+ "mass_ratios": {
66
+ "banana": 0.8620543111688334,
67
+ "lemon": 1.1952755557027546,
68
+ "plum": 1.1599589502851448,
69
+ "apple": 0.8338405842603531,
70
+ "orange": 0.9265080112964424,
71
+ "white_left_bowl": 0.8257231611521695,
72
+ "blue_left_bowl": 1.1884384528812648,
73
+ "white_right_bowl": 0.9355014346099427,
74
+ "blue_right_bowl": 1.1488443957500645
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5208137631416321,
90
+ -0.12433576583862305,
91
+ 0.7784640789031982
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000502.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 502,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23118,
7
+ "instruction": "Sort the lemon into the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 226,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27161789647811424,
27
+ 0.21195327363871833
28
+ ],
29
+ "lemon": [
30
+ 0.31525562652352696,
31
+ -0.011392248578606391
32
+ ],
33
+ "plum": [
34
+ 0.28619098355069134,
35
+ -0.2073339165926907
36
+ ],
37
+ "apple": [
38
+ 0.3783379692737877,
39
+ 0.10131969672661804
40
+ ],
41
+ "orange": [
42
+ 0.3817848818378747,
43
+ -0.10264322197743724
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.1266648546756405
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3314460167150478
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.11825024680888109
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.35444692804333594
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.9075974391717019,
65
+ "mass_ratios": {
66
+ "banana": 0.9430484130700618,
67
+ "lemon": 1.0452673570796422,
68
+ "plum": 0.8853834093464756,
69
+ "apple": 1.1638365811814224,
70
+ "orange": 1.1110737612826194,
71
+ "white_left_bowl": 0.8322756811612417,
72
+ "blue_left_bowl": 1.1238452051910568,
73
+ "white_right_bowl": 0.9595832813423595,
74
+ "blue_right_bowl": 1.1631447317315047
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5203588008880615,
90
+ 0.12716010212898254,
91
+ 0.7782474756240845
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000503.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 503,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23119,
7
+ "instruction": "Sort the lemon into the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 243,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.287646986623411,
27
+ 0.21152585859154552
28
+ ],
29
+ "lemon": [
30
+ 0.313780550267341,
31
+ 0.0032927754187666875
32
+ ],
33
+ "plum": [
34
+ 0.2822095716701584,
35
+ -0.1950157617106842
36
+ ],
37
+ "apple": [
38
+ 0.3823060210902424,
39
+ 0.1017205518098278
40
+ ],
41
+ "orange": [
42
+ 0.3824571441810587,
43
+ -0.10047012291418499
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3419095157598258
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.1247203443539814
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3503755967962507
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.1260794842560193
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.0103685597825707,
65
+ "mass_ratios": {
66
+ "banana": 0.9333243061132925,
67
+ "lemon": 1.1893303624061327,
68
+ "plum": 0.913170289983624,
69
+ "apple": 1.0108713904914397,
70
+ "orange": 1.154723858244225,
71
+ "white_left_bowl": 1.0545805970929885,
72
+ "blue_left_bowl": 1.0420352063628375,
73
+ "white_right_bowl": 1.0208630071500067,
74
+ "blue_right_bowl": 1.1554249298947656
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5229238271713257,
90
+ -0.35175538063049316,
91
+ 0.7782212495803833
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000504.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 504,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23120,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 243,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.287797702209249,
27
+ 0.21572868256742242
28
+ ],
29
+ "lemon": [
30
+ 0.3153949799367089,
31
+ 0.0052240490820576295
32
+ ],
33
+ "plum": [
34
+ 0.2836920027977945,
35
+ -0.1955136429604956
36
+ ],
37
+ "apple": [
38
+ 0.3784340461837213,
39
+ 0.10248669904131658
40
+ ],
41
+ "orange": [
42
+ 0.3798520293331395,
43
+ -0.1035796195615483
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11061807940726956
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3549201042076649
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.32832303918886774
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.10765246619068962
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.0731738422065664,
65
+ "mass_ratios": {
66
+ "banana": 0.9870454999339979,
67
+ "lemon": 0.8797761422872991,
68
+ "plum": 1.071815767272651,
69
+ "apple": 1.0478112545695955,
70
+ "orange": 1.0752155501426437,
71
+ "white_left_bowl": 1.181280800437535,
72
+ "blue_left_bowl": 0.8284769551442458,
73
+ "white_right_bowl": 1.0229117816186657,
74
+ "blue_right_bowl": 1.0424446805122323
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5221464037895203,
90
+ 0.3521740436553955,
91
+ 0.7782843708992004
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000505.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 505,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23121,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 242,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2865488886941786,
27
+ 0.21296655251655083
28
+ ],
29
+ "lemon": [
30
+ 0.3113999595882989,
31
+ 0.006775676763632249
32
+ ],
33
+ "plum": [
34
+ 0.2723905059687769,
35
+ -0.18827636135619713
36
+ ],
37
+ "apple": [
38
+ 0.3791133008643933,
39
+ 0.10274209753539588
40
+ ],
41
+ "orange": [
42
+ 0.3809581269338597,
43
+ -0.10256739265630073
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.35259162202622873
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.12436016178100542
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.1283475003418399
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3366155209201028
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.8691130913190728,
65
+ "mass_ratios": {
66
+ "banana": 0.8098756111358856,
67
+ "lemon": 0.9344754123266521,
68
+ "plum": 1.1873484991326946,
69
+ "apple": 1.1336248747945996,
70
+ "orange": 1.1822364811682224,
71
+ "white_left_bowl": 0.9240685219304955,
72
+ "blue_left_bowl": 0.9420869149827196,
73
+ "white_right_bowl": 1.013968462959133,
74
+ "blue_right_bowl": 0.8256024229639045
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5198861360549927,
90
+ -0.3361732065677643,
91
+ 0.7786341905593872
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000506.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 506,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23122,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 226,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2901753167648158,
27
+ 0.2242594237217561
28
+ ],
29
+ "lemon": [
30
+ 0.31018330487105533,
31
+ -0.008129853082452003
32
+ ],
33
+ "plum": [
34
+ 0.27076167222098413,
35
+ -0.20246649662750082
36
+ ],
37
+ "apple": [
38
+ 0.3826281457651497,
39
+ 0.10013182664424423
40
+ ],
41
+ "orange": [
42
+ 0.38119611436227846,
43
+ -0.10314171649046412
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11376031793932465
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3308358249262282
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.12911804466721302
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3487286579216797
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.295033143381515,
65
+ "mass_ratios": {
66
+ "banana": 0.8523461325322759,
67
+ "lemon": 0.944493677994632,
68
+ "plum": 0.9002244040933267,
69
+ "apple": 0.84741835629592,
70
+ "orange": 0.8848207665824598,
71
+ "white_left_bowl": 1.1104207750174853,
72
+ "blue_left_bowl": 1.0922977345287064,
73
+ "white_right_bowl": 1.0048712384919884,
74
+ "blue_right_bowl": 1.0684639686941724
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.525202751159668,
90
+ 0.10943181812763214,
91
+ 0.778099000453949
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000507.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 507,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23123,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 238,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27584464340517045,
27
+ 0.21825087555414818
28
+ ],
29
+ "lemon": [
30
+ 0.32935232405454484,
31
+ 0.011428597943747787
32
+ ],
33
+ "plum": [
34
+ 0.2691277384084493,
35
+ -0.1978381155223175
36
+ ],
37
+ "apple": [
38
+ 0.3772623830867921,
39
+ 0.09986692498127167
40
+ ],
41
+ "orange": [
42
+ 0.3782670702032675,
43
+ -0.09943069316023875
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11831445371513724
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.33487129954326855
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3315614873705003
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.13480900217147132
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.883476548101297,
65
+ "mass_ratios": {
66
+ "banana": 0.8761429273285197,
67
+ "lemon": 1.1430790802052944,
68
+ "plum": 1.178359728805602,
69
+ "apple": 1.0255078463323084,
70
+ "orange": 1.1371398236445878,
71
+ "white_left_bowl": 0.9013473231441133,
72
+ "blue_left_bowl": 1.0195962487970156,
73
+ "white_right_bowl": 0.8513515913263073,
74
+ "blue_right_bowl": 0.8807287875666716
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5363828539848328,
90
+ -0.33293142914772034,
91
+ 0.7778795957565308
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000508.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 508,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23124,
7
+ "instruction": "Sort the lemon into the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 238,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2831236542821915,
27
+ 0.22070009190550727
28
+ ],
29
+ "lemon": [
30
+ 0.3304047594420318,
31
+ 0.007986093911828234
32
+ ],
33
+ "plum": [
34
+ 0.2906848287862667,
35
+ -0.18916083405226541
36
+ ],
37
+ "apple": [
38
+ 0.37882960218826395,
39
+ 0.10113529654469833
40
+ ],
41
+ "orange": [
42
+ 0.3765112271934094,
43
+ -0.09864100564239009
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11185381868237915
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.33499142315797953
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.33212025109020604
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.125404178871542
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1358789793526178,
65
+ "mass_ratios": {
66
+ "banana": 0.9688571707652693,
67
+ "lemon": 0.8851518148787062,
68
+ "plum": 0.8801248853520406,
69
+ "apple": 0.8766645462616517,
70
+ "orange": 1.1866445682248548,
71
+ "white_left_bowl": 1.1905043914362567,
72
+ "blue_left_bowl": 1.1254401671533365,
73
+ "white_right_bowl": 1.0022147353714916,
74
+ "blue_right_bowl": 1.0141366260109763
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5249279141426086,
90
+ 0.3301476836204529,
91
+ 0.7782061696052551
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000509.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 509,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23125,
7
+ "instruction": "Sort the lemon into the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 241,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2849937107004652,
27
+ 0.22122079673647893
28
+ ],
29
+ "lemon": [
30
+ 0.311406436194007,
31
+ 0.0021357646444443764
32
+ ],
33
+ "plum": [
34
+ 0.27448595846453605,
35
+ -0.19519823321506125
36
+ ],
37
+ "apple": [
38
+ 0.3797901234396986,
39
+ 0.09770358253629016
40
+ ],
41
+ "orange": [
42
+ 0.3827244967783042,
43
+ -0.0994242233946143
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3413522975577807
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.13048212280288662
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.12943487635015982
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3311452375835557
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1353248316390512,
65
+ "mass_ratios": {
66
+ "banana": 1.0044437714188539,
67
+ "lemon": 0.9955819318637034,
68
+ "plum": 1.179852620200368,
69
+ "apple": 1.1031293115920264,
70
+ "orange": 0.8927690466947772,
71
+ "white_left_bowl": 0.8033126019252199,
72
+ "blue_left_bowl": 0.819661649066554,
73
+ "white_right_bowl": 1.0876011774678795,
74
+ "blue_right_bowl": 1.0862814941199406
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5194337964057922,
90
+ -0.3305879235267639,
91
+ 0.7785892486572266
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000510.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 510,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23126,
7
+ "instruction": "Sort the lemon into the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 242,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2730412252837548,
27
+ 0.21259829839438238
28
+ ],
29
+ "lemon": [
30
+ 0.3232198882305649,
31
+ 0.006423542767489278
32
+ ],
33
+ "plum": [
34
+ 0.28545629016345664,
35
+ -0.20320009132952888
36
+ ],
37
+ "apple": [
38
+ 0.3809513833926591,
39
+ 0.09982187695770423
40
+ ],
41
+ "orange": [
42
+ 0.3816447243886948,
43
+ -0.09810823705967278
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3538599908552469
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.13008783139891866
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3514220161441799
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.10625261710490977
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.224930484949787,
65
+ "mass_ratios": {
66
+ "banana": 0.8874932366534355,
67
+ "lemon": 0.9525296031366305,
68
+ "plum": 1.1721019622574558,
69
+ "apple": 0.8250144371931258,
70
+ "orange": 0.9751427774229635,
71
+ "white_left_bowl": 0.9967914798152544,
72
+ "blue_left_bowl": 0.8179424068689024,
73
+ "white_right_bowl": 0.8020509792560626,
74
+ "blue_right_bowl": 0.8732931699522424
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5239519476890564,
90
+ 0.35266950726509094,
91
+ 0.7778562903404236
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000511.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 511,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23127,
7
+ "instruction": "Sort the lemon into the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 224,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28388065920083927,
27
+ 0.225293422411212
28
+ ],
29
+ "lemon": [
30
+ 0.319334951346146,
31
+ 0.005022179982429591
32
+ ],
33
+ "plum": [
34
+ 0.2889331721795095,
35
+ -0.21184810008265176
36
+ ],
37
+ "apple": [
38
+ 0.37841403835742826,
39
+ 0.10240499730522289
40
+ ],
41
+ "orange": [
42
+ 0.38299864036150505,
43
+ -0.09617595663369491
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.32710717669445694
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.1102620796191453
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.11246650070008002
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3323450338565364
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.0410380729921365,
65
+ "mass_ratios": {
66
+ "banana": 0.9096674368165962,
67
+ "lemon": 1.1293233760286243,
68
+ "plum": 1.1731403354164631,
69
+ "apple": 1.006853264910972,
70
+ "orange": 1.1471186770092052,
71
+ "white_left_bowl": 0.8450704639051202,
72
+ "blue_left_bowl": 1.0353204344477296,
73
+ "white_right_bowl": 0.8995442667318626,
74
+ "blue_right_bowl": 1.1274431213175362
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5208035707473755,
90
+ -0.11140358448028564,
91
+ 0.778455913066864
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000512.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 512,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23128,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 242,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28284368935317394,
27
+ 0.23097871793150684
28
+ ],
29
+ "lemon": [
30
+ 0.31390963428398005,
31
+ -0.010191096714173297
32
+ ],
33
+ "plum": [
34
+ 0.27973923349910296,
35
+ -0.199534569546822
36
+ ],
37
+ "apple": [
38
+ 0.3784715913059412,
39
+ 0.10102038047025103
40
+ ],
41
+ "orange": [
42
+ 0.3829479124016162,
43
+ -0.09911058985065842
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11949979919549755
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3423836654222943
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3504917404637905
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.12462384763364479
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.046304252370979,
65
+ "mass_ratios": {
66
+ "banana": 1.0827964730040163,
67
+ "lemon": 1.0641726331088,
68
+ "plum": 1.0246478201760871,
69
+ "apple": 0.819722498404506,
70
+ "orange": 0.8855017860896839,
71
+ "white_left_bowl": 1.1655244093863029,
72
+ "blue_left_bowl": 1.028801336253532,
73
+ "white_right_bowl": 0.9332930063945182,
74
+ "blue_right_bowl": 0.8076656249562215
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5195682048797607,
90
+ 0.33996543288230896,
91
+ 0.7782861590385437
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000513.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 513,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23129,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 226,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2836714425196,
27
+ 0.21506496595118157
28
+ ],
29
+ "lemon": [
30
+ 0.309240740446274,
31
+ 0.0065081926731686696
32
+ ],
33
+ "plum": [
34
+ 0.2680605910492739,
35
+ -0.19087849893985448
36
+ ],
37
+ "apple": [
38
+ 0.37827543432991106,
39
+ 0.09750315463977045
40
+ ],
41
+ "orange": [
42
+ 0.37697404095872167,
43
+ -0.09714988002052245
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.13178844908173498
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.326010804373446
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.334788719167032
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.10788969997413822
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.032363957919012,
65
+ "mass_ratios": {
66
+ "banana": 1.0058448203069814,
67
+ "lemon": 1.1572824551026901,
68
+ "plum": 1.156374190869895,
69
+ "apple": 0.8790406633742944,
70
+ "orange": 1.1417529792148606,
71
+ "white_left_bowl": 0.9973091276942702,
72
+ "blue_left_bowl": 1.1055146292456655,
73
+ "white_right_bowl": 0.9645678744114539,
74
+ "blue_right_bowl": 1.1324959557694037
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5276505947113037,
90
+ -0.11115258932113647,
91
+ 0.7780056595802307
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000514.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 514,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23130,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 226,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2785758794966944,
27
+ 0.21362629581463166
28
+ ],
29
+ "lemon": [
30
+ 0.31080681234340357,
31
+ -0.006501559835394759
32
+ ],
33
+ "plum": [
34
+ 0.2817400102157661,
35
+ -0.2026358174551445
36
+ ],
37
+ "apple": [
38
+ 0.3807948353230505,
39
+ 0.09953332697273115
40
+ ],
41
+ "orange": [
42
+ 0.3779634402096856,
43
+ -0.10385725103654894
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.10506346501367361
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.35102079381932855
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3418602987007946
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.11030165041279796
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1184917124859048,
65
+ "mass_ratios": {
66
+ "banana": 1.1305993691062548,
67
+ "lemon": 0.9214076830147866,
68
+ "plum": 1.0570702759173638,
69
+ "apple": 0.9542676374517876,
70
+ "orange": 1.0136706945437135,
71
+ "white_left_bowl": 1.1416040115712602,
72
+ "blue_left_bowl": 0.9115954391169366,
73
+ "white_right_bowl": 0.9820377619388382,
74
+ "blue_right_bowl": 0.931970822584192
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5255445241928101,
90
+ 0.10342953354120255,
91
+ 0.7779231071472168
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000515.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 515,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23131,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 241,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2703538177034882,
27
+ 0.21342711962122113
28
+ ],
29
+ "lemon": [
30
+ 0.3216863365217917,
31
+ 0.010403754649344656
32
+ ],
33
+ "plum": [
34
+ 0.269118283170946,
35
+ -0.2075559184309985
36
+ ],
37
+ "apple": [
38
+ 0.3779367403901142,
39
+ 0.09773314201694676
40
+ ],
41
+ "orange": [
42
+ 0.3780011745180134,
43
+ -0.1000491290870246
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3473019597014743
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.11626557251348482
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3465959680875157
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.11843864692694268
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.9064743722016594,
65
+ "mass_ratios": {
66
+ "banana": 1.1164451528513673,
67
+ "lemon": 1.1463726506259369,
68
+ "plum": 1.1192048607344087,
69
+ "apple": 1.1513587185643352,
70
+ "orange": 0.8826360167413512,
71
+ "white_left_bowl": 1.091351226584802,
72
+ "blue_left_bowl": 0.8197504802676598,
73
+ "white_right_bowl": 1.0990120589338246,
74
+ "blue_right_bowl": 1.0404646880425743
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5242323875427246,
90
+ -0.34917116165161133,
91
+ 0.777901291847229
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000516.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 516,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23132,
7
+ "instruction": "Sort the lemon into the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 241,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2834444721931579,
27
+ 0.2125726055779321
28
+ ],
29
+ "lemon": [
30
+ 0.32031134424892616,
31
+ -0.0077068260787977495
32
+ ],
33
+ "plum": [
34
+ 0.2761704383112642,
35
+ -0.20249341091494166
36
+ ],
37
+ "apple": [
38
+ 0.38030534197090177,
39
+ 0.10015752150375513
40
+ ],
41
+ "orange": [
42
+ 0.382164024166804,
43
+ -0.10227893422741395
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.1062341008394508
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.34701301101505466
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.1347503916748753
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.33672606911746905
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1384671969342353,
65
+ "mass_ratios": {
66
+ "banana": 1.1567732577209855,
67
+ "lemon": 0.844065316017983,
68
+ "plum": 0.8403122474512121,
69
+ "apple": 0.8812893672405467,
70
+ "orange": 0.825441226954688,
71
+ "white_left_bowl": 0.9518606290008678,
72
+ "blue_left_bowl": 0.9829262398504135,
73
+ "white_right_bowl": 0.8427010781735226,
74
+ "blue_right_bowl": 1.1395121248787472
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5270299315452576,
90
+ 0.34626102447509766,
91
+ 0.7778752446174622
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000517.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 517,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23133,
7
+ "instruction": "Sort the lemon into the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 225,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2839709953489287,
27
+ 0.22756731254864318
28
+ ],
29
+ "lemon": [
30
+ 0.31980275537683023,
31
+ -0.008493500627339204
32
+ ],
33
+ "plum": [
34
+ 0.26855017511386736,
35
+ -0.20618642577687038
36
+ ],
37
+ "apple": [
38
+ 0.37983370152081214,
39
+ 0.09820581891317032
40
+ ],
41
+ "orange": [
42
+ 0.3795627843545889,
43
+ -0.09991537182344179
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11753898040448683
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.34924165977907784
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3330242230264607
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.120489170687544
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.7162980845299584,
65
+ "mass_ratios": {
66
+ "banana": 1.0421561885285915,
67
+ "lemon": 1.1656771349026689,
68
+ "plum": 1.189514707332924,
69
+ "apple": 1.0745337261100159,
70
+ "orange": 0.9156259241193916,
71
+ "white_left_bowl": 0.9321107701746306,
72
+ "blue_left_bowl": 1.0437101794928152,
73
+ "white_right_bowl": 0.8095187401968453,
74
+ "blue_right_bowl": 1.0642116511542123
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5278791189193726,
90
+ -0.12580008804798126,
91
+ 0.7780210971832275
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000518.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 518,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23134,
7
+ "instruction": "Sort the lemon into the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 223,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28672268290452024,
27
+ 0.21210276644578943
28
+ ],
29
+ "lemon": [
30
+ 0.3281415653187886,
31
+ -0.005044290739033226
32
+ ],
33
+ "plum": [
34
+ 0.2712296548592251,
35
+ -0.20163058461042316
36
+ ],
37
+ "apple": [
38
+ 0.3822107344487283,
39
+ 0.10087438925077837
40
+ ],
41
+ "orange": [
42
+ 0.38192034568974964,
43
+ -0.10092737114296796
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11765471562292999
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3443113283398064
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.11358109910616235
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3396748852436008
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.8970539632894984,
65
+ "mass_ratios": {
66
+ "banana": 1.147472933671023,
67
+ "lemon": 0.8883042182004676,
68
+ "plum": 0.9704692920598135,
69
+ "apple": 1.0007826230874788,
70
+ "orange": 1.058326859473279,
71
+ "white_left_bowl": 0.8047987649752317,
72
+ "blue_left_bowl": 0.9581002113249745,
73
+ "white_right_bowl": 1.0353316115686588,
74
+ "blue_right_bowl": 1.0834207134022196
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5343817472457886,
90
+ 0.11405666917562485,
91
+ 0.7780573964118958
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000519.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 519,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23135,
7
+ "instruction": "Sort the lemon into the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 224,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28323485088590455,
27
+ 0.21900427328223138
28
+ ],
29
+ "lemon": [
30
+ 0.3224787132699932,
31
+ -0.007910510706446303
32
+ ],
33
+ "plum": [
34
+ 0.2868260192069658,
35
+ -0.19430544925460214
36
+ ],
37
+ "apple": [
38
+ 0.3788966324155944,
39
+ 0.10013667296199238
40
+ ],
41
+ "orange": [
42
+ 0.37955970297648434,
43
+ -0.1027375511139198
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11906615698931619
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3274697425022217
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.10770965816121246
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.33415410584524907
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.2271177252632384,
65
+ "mass_ratios": {
66
+ "banana": 0.9010283408159999,
67
+ "lemon": 0.9226175268251178,
68
+ "plum": 1.1287989120047837,
69
+ "apple": 0.9550163635069446,
70
+ "orange": 1.1739671927522863,
71
+ "white_left_bowl": 0.9407348805320109,
72
+ "blue_left_bowl": 1.1992087386770134,
73
+ "white_right_bowl": 1.1134808806268925,
74
+ "blue_right_bowl": 1.1182535218291108
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5234475135803223,
90
+ -0.10891690105199814,
91
+ 0.7780588269233704
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000520.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 520,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23136,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 242,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2831613365958872,
27
+ 0.21401019121420342
28
+ ],
29
+ "lemon": [
30
+ 0.30964432060511166,
31
+ -0.00298701562240883
32
+ ],
33
+ "plum": [
34
+ 0.28544521469654455,
35
+ -0.2061190720076313
36
+ ],
37
+ "apple": [
38
+ 0.38126718118939873,
39
+ 0.10105240407633768
40
+ ],
41
+ "orange": [
42
+ 0.37754340459293056,
43
+ -0.09775739893754808
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11355945725441238
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.33096436657307915
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.11746664947394132
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.32568019915456586
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1900347349260754,
65
+ "mass_ratios": {
66
+ "banana": 0.8548201310382404,
67
+ "lemon": 1.1561406449020413,
68
+ "plum": 1.1669785128235493,
69
+ "apple": 0.9155815696845501,
70
+ "orange": 0.9533382990009038,
71
+ "white_left_bowl": 1.0042977020627375,
72
+ "blue_left_bowl": 0.9638008113008463,
73
+ "white_right_bowl": 0.9645547185649483,
74
+ "blue_right_bowl": 1.118626906296586
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5247246623039246,
90
+ 0.32906651496887207,
91
+ 0.777843177318573
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000521.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 521,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23137,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 223,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2698148763730167,
27
+ 0.22479240384192312
28
+ ],
29
+ "lemon": [
30
+ 0.3304989065973855,
31
+ 0.00910688988511334
32
+ ],
33
+ "plum": [
34
+ 0.2788382949049058,
35
+ -0.19160960145923897
36
+ ],
37
+ "apple": [
38
+ 0.3812173676910768,
39
+ 0.09737292950609244
40
+ ],
41
+ "orange": [
42
+ 0.3834377099781847,
43
+ -0.09918238521945301
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3446959433405236
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.11393956982825346
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3521124323520391
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.1296432070568414
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.7226097352187647,
65
+ "mass_ratios": {
66
+ "banana": 1.0557555968840076,
67
+ "lemon": 1.0904206022491028,
68
+ "plum": 1.0603003359497132,
69
+ "apple": 0.8581309289142625,
70
+ "orange": 0.8409054721991179,
71
+ "white_left_bowl": 1.1349217023005362,
72
+ "blue_left_bowl": 1.0032853219835194,
73
+ "white_right_bowl": 0.9824463698765749,
74
+ "blue_right_bowl": 0.9386501441382057
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5213910937309265,
90
+ -0.129298597574234,
91
+ 0.778533935546875
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000522.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 522,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23138,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 243,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27171611154345704,
27
+ 0.21449745442827164
28
+ ],
29
+ "lemon": [
30
+ 0.31750538149161567,
31
+ -0.0014042167581607024
32
+ ],
33
+ "plum": [
34
+ 0.2819994200965581,
35
+ -0.1903975159725656
36
+ ],
37
+ "apple": [
38
+ 0.3811571036733172,
39
+ 0.09790460625244587
40
+ ],
41
+ "orange": [
42
+ 0.38304508790694747,
43
+ -0.10399607746552034
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.35427936214200095
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.13007584226534466
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3293082309439197
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.1202673651764718
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.161673374347369,
65
+ "mass_ratios": {
66
+ "banana": 1.0383610129356593,
67
+ "lemon": 0.8250633774748044,
68
+ "plum": 1.0274359816491236,
69
+ "apple": 0.9021791179264959,
70
+ "orange": 1.1687923903241293,
71
+ "white_left_bowl": 0.84773019222189,
72
+ "blue_left_bowl": 1.0772217405014703,
73
+ "white_right_bowl": 0.9157306794810013,
74
+ "blue_right_bowl": 1.1720779590093424
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5248235464096069,
90
+ 0.3500951826572418,
91
+ 0.7778691053390503
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000523.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 523,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23139,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 238,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.26852145037258696,
27
+ 0.21733522219851387
28
+ ],
29
+ "lemon": [
30
+ 0.32880495332904563,
31
+ 0.005574851953337852
32
+ ],
33
+ "plum": [
34
+ 0.28390955730698014,
35
+ -0.20447723876123544
36
+ ],
37
+ "apple": [
38
+ 0.37932497393576325,
39
+ 0.10008389021555006
40
+ ],
41
+ "orange": [
42
+ 0.3830729297975858,
43
+ -0.09665765558865984
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3311461688764357
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.1111381796124113
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3333960955886833
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.12290000326062175
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.2841366181225968,
65
+ "mass_ratios": {
66
+ "banana": 0.9285749505285723,
67
+ "lemon": 1.073739033041313,
68
+ "plum": 0.8650685527401362,
69
+ "apple": 0.9795673061161774,
70
+ "orange": 0.9664498327113517,
71
+ "white_left_bowl": 1.1300287550673438,
72
+ "blue_left_bowl": 1.1611505873539358,
73
+ "white_right_bowl": 0.8000748811101288,
74
+ "blue_right_bowl": 0.8809575487716875
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5212652087211609,
90
+ -0.33246850967407227,
91
+ 0.778363823890686
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000524.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 524,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23140,
7
+ "instruction": "Sort the lemon into the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 223,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27591909652266755,
27
+ 0.21341006631727547
28
+ ],
29
+ "lemon": [
30
+ 0.3303262679810907,
31
+ 0.00849398072334863
32
+ ],
33
+ "plum": [
34
+ 0.2776925867717522,
35
+ -0.19979029902954595
36
+ ],
37
+ "apple": [
38
+ 0.380272586963711,
39
+ 0.09894239251170436
40
+ ],
41
+ "orange": [
42
+ 0.3776917807250293,
43
+ -0.09609910021307223
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3394657967303835
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.13315437242600217
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.13356017865879324
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3413521114391752
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.7754673984499512,
65
+ "mass_ratios": {
66
+ "banana": 1.170818571017484,
67
+ "lemon": 1.0751996532129875,
68
+ "plum": 1.1012526131952645,
69
+ "apple": 1.1807697846323366,
70
+ "orange": 1.054273433586153,
71
+ "white_left_bowl": 0.8530284027469331,
72
+ "blue_left_bowl": 1.126141045123657,
73
+ "white_right_bowl": 0.8983420318783435,
74
+ "blue_right_bowl": 0.8816258768323271
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5207244753837585,
90
+ 0.13364294171333313,
91
+ 0.7782436609268188
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000525.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 525,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23141,
7
+ "instruction": "Sort the lemon into the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 223,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27231983426181655,
27
+ 0.22376719323467162
28
+ ],
29
+ "lemon": [
30
+ 0.3264057071761982,
31
+ 0.0039325758411025945
32
+ ],
33
+ "plum": [
34
+ 0.28107605077558984,
35
+ -0.19608217325449437
36
+ ],
37
+ "apple": [
38
+ 0.3827348453717034,
39
+ 0.10124456325324863
40
+ ],
41
+ "orange": [
42
+ 0.37878519771383773,
43
+ -0.1035700792850058
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.35195800885750383
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.11341080864977023
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.33927545364292955
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.10989911250135878
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.8980451348185527,
65
+ "mass_ratios": {
66
+ "banana": 0.8845281090045958,
67
+ "lemon": 0.9444208045676676,
68
+ "plum": 1.1334285889718412,
69
+ "apple": 0.9259167778519366,
70
+ "orange": 1.0643680087437766,
71
+ "white_left_bowl": 0.9502815267794666,
72
+ "blue_left_bowl": 0.9366650838779839,
73
+ "white_right_bowl": 1.1504790652250103,
74
+ "blue_right_bowl": 0.8320295955467459
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5241914987564087,
90
+ -0.11357143521308899,
91
+ 0.7779483199119568
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000526.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 526,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23142,
7
+ "instruction": "Sort the lemon into the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 241,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2731554105071869,
27
+ 0.23114131313470207
28
+ ],
29
+ "lemon": [
30
+ 0.3146771526633708,
31
+ 0.00522428053085304
32
+ ],
33
+ "plum": [
34
+ 0.2792045578420257,
35
+ -0.1993747622834128
36
+ ],
37
+ "apple": [
38
+ 0.38082732501076977,
39
+ 0.09836843406262585
40
+ ],
41
+ "orange": [
42
+ 0.37635794693144686,
43
+ -0.0974301123169365
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3336869333319325
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.11515859848513156
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3392214894734501
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.1297321937730929
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.703670734267823,
65
+ "mass_ratios": {
66
+ "banana": 0.9851785383898249,
67
+ "lemon": 0.8925153292467491,
68
+ "plum": 0.8740023360605955,
69
+ "apple": 1.1772157183585539,
70
+ "orange": 0.8228956370725545,
71
+ "white_left_bowl": 1.1042975300302031,
72
+ "blue_left_bowl": 1.1440759491470935,
73
+ "white_right_bowl": 1.1899577810355595,
74
+ "blue_right_bowl": 1.0330379969210997
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5133366584777832,
90
+ 0.33405643701553345,
91
+ 0.7790371775627136
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000527.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 527,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23143,
7
+ "instruction": "Sort the lemon into the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 241,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28193759296548887,
27
+ 0.22500206081529164
28
+ ],
29
+ "lemon": [
30
+ 0.3143517147941909,
31
+ 0.009084916104485991
32
+ ],
33
+ "plum": [
34
+ 0.2736518719965012,
35
+ -0.20505363225374557
36
+ ],
37
+ "apple": [
38
+ 0.37890318089631436,
39
+ 0.10182530987838438
40
+ ],
41
+ "orange": [
42
+ 0.38163261855157443,
43
+ -0.10026088867685216
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.350102595608246
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.12521492091176029
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.33250012556833086
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.1279035779060245
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.2341883905219904,
65
+ "mass_ratios": {
66
+ "banana": 0.9211863160192744,
67
+ "lemon": 1.029720830431291,
68
+ "plum": 1.110645636827438,
69
+ "apple": 1.0880223519609906,
70
+ "orange": 1.1967960096500527,
71
+ "white_left_bowl": 1.1919692860681388,
72
+ "blue_left_bowl": 0.9795139442776171,
73
+ "white_right_bowl": 0.9703667984933018,
74
+ "blue_right_bowl": 1.1442398734937644
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5269287824630737,
90
+ -0.3371198773384094,
91
+ 0.7780061364173889
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000528.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 528,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23144,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 224,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28728049402865236,
27
+ 0.22825625972382532
28
+ ],
29
+ "lemon": [
30
+ 0.32172595552943484,
31
+ 0.004995991991143308
32
+ ],
33
+ "plum": [
34
+ 0.2870195012518789,
35
+ -0.20009442591904464
36
+ ],
37
+ "apple": [
38
+ 0.3778492001393106,
39
+ 0.09759248804016442
40
+ ],
41
+ "orange": [
42
+ 0.3814199828606626,
43
+ -0.10389494473162826
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3347754819335178
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.11166164445173894
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.12085150061857408
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.32765486848026815
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.9856691097136302,
65
+ "mass_ratios": {
66
+ "banana": 0.8088239868333376,
67
+ "lemon": 1.03947436948252,
68
+ "plum": 1.0550351772541253,
69
+ "apple": 0.8868550741637933,
70
+ "orange": 0.892037142174799,
71
+ "white_left_bowl": 1.0412078471568074,
72
+ "blue_left_bowl": 0.9872925958579646,
73
+ "white_right_bowl": 1.1915892528843144,
74
+ "blue_right_bowl": 0.8245578468181222
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5245111584663391,
90
+ 0.10707568377256393,
91
+ 0.7787565588951111
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000529.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 529,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23145,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 239,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28361687558693655,
27
+ 0.21223221481172333
28
+ ],
29
+ "lemon": [
30
+ 0.32255360021380003,
31
+ 0.010550196148492914
32
+ ],
33
+ "plum": [
34
+ 0.28892710859861376,
35
+ -0.19248166178147932
36
+ ],
37
+ "apple": [
38
+ 0.38020975620665143,
39
+ 0.10015427210131557
40
+ ],
41
+ "orange": [
42
+ 0.37856503152247334,
43
+ -0.09953945081857349
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.33098405125460006
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.1299049992611595
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.10858593985533464
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3346117366022546
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.7043932688295907,
65
+ "mass_ratios": {
66
+ "banana": 1.1140715241433954,
67
+ "lemon": 1.0445337235451881,
68
+ "plum": 1.1478881459405177,
69
+ "apple": 0.9470544559329306,
70
+ "orange": 1.0378072569341557,
71
+ "white_left_bowl": 0.9113154640077595,
72
+ "blue_left_bowl": 1.1563805560437364,
73
+ "white_right_bowl": 0.8827933482641713,
74
+ "blue_right_bowl": 0.9098094276999454
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5247957110404968,
90
+ -0.33699530363082886,
91
+ 0.7779161930084229
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000530.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 530,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23146,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 243,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28477639783118047,
27
+ 0.22130082662786746
28
+ ],
29
+ "lemon": [
30
+ 0.309150714164014,
31
+ -0.0004429575686792295
32
+ ],
33
+ "plum": [
34
+ 0.28133725230208645,
35
+ -0.2066806825806763
36
+ ],
37
+ "apple": [
38
+ 0.37790735692832256,
39
+ 0.09788128364630667
40
+ ],
41
+ "orange": [
42
+ 0.3824428115728084,
43
+ -0.1007878678769962
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3396525843435342
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.10593656730338157
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.1309633251111856
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.32880917987563085
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.238727053762108,
65
+ "mass_ratios": {
66
+ "banana": 0.9547263390844642,
67
+ "lemon": 0.9233159128085281,
68
+ "plum": 1.1613799515546523,
69
+ "apple": 0.802574039494515,
70
+ "orange": 1.1040831510641045,
71
+ "white_left_bowl": 1.1984670112579852,
72
+ "blue_left_bowl": 1.1207055906704197,
73
+ "white_right_bowl": 1.0035470323925562,
74
+ "blue_right_bowl": 0.8596682468415784
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5297273397445679,
90
+ 0.3371444642543793,
91
+ 0.7777521014213562
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000531.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 531,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23147,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 239,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2744219457399347,
27
+ 0.22971932228699002
28
+ ],
29
+ "lemon": [
30
+ 0.3286009269082754,
31
+ 0.0008720520885106622
32
+ ],
33
+ "plum": [
34
+ 0.27945363748904145,
35
+ -0.19149532053321494
36
+ ],
37
+ "apple": [
38
+ 0.3823110759657693,
39
+ 0.10085084516945671
40
+ ],
41
+ "orange": [
42
+ 0.3765581104765804,
43
+ -0.09941529787559789
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11210706676101768
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3533973158377716
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.34461102267303184
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.11500002386087543
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.2893824262945772,
65
+ "mass_ratios": {
66
+ "banana": 1.1959392358503227,
67
+ "lemon": 1.1269588758634135,
68
+ "plum": 1.1156572775481883,
69
+ "apple": 1.179902391380288,
70
+ "orange": 1.1246794263568307,
71
+ "white_left_bowl": 1.1689144029548633,
72
+ "blue_left_bowl": 0.8410328928805052,
73
+ "white_right_bowl": 0.9217136587095804,
74
+ "blue_right_bowl": 0.8456323897473162
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5212501287460327,
90
+ -0.34384268522262573,
91
+ 0.7783434987068176
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000532.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 532,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23148,
7
+ "instruction": "Sort the lemon into the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 240,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27897289541568493,
27
+ 0.2193641424725789
28
+ ],
29
+ "lemon": [
30
+ 0.3178332183368424,
31
+ 0.00012059425239601199
32
+ ],
33
+ "plum": [
34
+ 0.27007017919878956,
35
+ -0.20374373107507715
36
+ ],
37
+ "apple": [
38
+ 0.37719714900033796,
39
+ 0.09961487056784903
40
+ ],
41
+ "orange": [
42
+ 0.3792794071704585,
43
+ -0.10201245387004038
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.112955246997576
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.33145870255000853
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.33862487816077913
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.12275622285534746
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.8674322833545307,
65
+ "mass_ratios": {
66
+ "banana": 1.1873657868106058,
67
+ "lemon": 0.9870056617152401,
68
+ "plum": 0.9530151366308292,
69
+ "apple": 0.963118750292421,
70
+ "orange": 0.9128713790105121,
71
+ "white_left_bowl": 1.149507856133449,
72
+ "blue_left_bowl": 1.050301364516463,
73
+ "white_right_bowl": 0.9121248653464303,
74
+ "blue_right_bowl": 1.1412330392383252
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5201257467269897,
90
+ 0.32889848947525024,
91
+ 0.7782484889030457
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000533.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 533,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23149,
7
+ "instruction": "Sort the lemon into the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 223,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2913873276815849,
27
+ 0.22917033922127805
28
+ ],
29
+ "lemon": [
30
+ 0.3287016061237751,
31
+ 0.0048782530893547
32
+ ],
33
+ "plum": [
34
+ 0.2744417647344717,
35
+ -0.18883757697731104
36
+ ],
37
+ "apple": [
38
+ 0.38266148339143496,
39
+ 0.10245787857369364
40
+ ],
41
+ "orange": [
42
+ 0.37970373118244904,
43
+ -0.10169014627061394
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.11487217264924215
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3450823798309345
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.33212978767217244
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.1304148638722297
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.0129800965933133,
65
+ "mass_ratios": {
66
+ "banana": 1.173073877492666,
67
+ "lemon": 1.0617303702898244,
68
+ "plum": 1.1739670470060297,
69
+ "apple": 0.9078047181018896,
70
+ "orange": 1.1185548363746773,
71
+ "white_left_bowl": 1.146120666119379,
72
+ "blue_left_bowl": 1.0265427121164783,
73
+ "white_right_bowl": 0.9038211126141243,
74
+ "blue_right_bowl": 1.0796476200408016
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5344512462615967,
90
+ -0.13740676641464233,
91
+ 0.7779999375343323
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000534.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 534,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23150,
7
+ "instruction": "Sort the lemon into the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 241,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28277567192400327,
27
+ 0.2275998748350879
28
+ ],
29
+ "lemon": [
30
+ 0.3120579012076209,
31
+ 0.0015863103115457081
32
+ ],
33
+ "plum": [
34
+ 0.274959028409408,
35
+ -0.19400871397898112
36
+ ],
37
+ "apple": [
38
+ 0.3813996466376163,
39
+ 0.10098221230264959
40
+ ],
41
+ "orange": [
42
+ 0.37900710372947505,
43
+ -0.09840235273488068
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3280149668123398
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.1306379823228254
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.12947631479841853
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3470002605991654
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.9510655557895549,
65
+ "mass_ratios": {
66
+ "banana": 1.0313547445167233,
67
+ "lemon": 0.8014920921168571,
68
+ "plum": 1.17339673806744,
69
+ "apple": 0.9052342213518497,
70
+ "orange": 1.1568809048773026,
71
+ "white_left_bowl": 0.8757133898692535,
72
+ "blue_left_bowl": 1.0420243601887706,
73
+ "white_right_bowl": 0.8913742281408601,
74
+ "blue_right_bowl": 0.8932762657436951
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5198091864585876,
90
+ 0.3256477117538452,
91
+ 0.7782598733901978
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000535.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 535,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23151,
7
+ "instruction": "Sort the lemon into the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 223,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2912953534007945,
27
+ 0.22227345238020754
28
+ ],
29
+ "lemon": [
30
+ 0.32854700636539724,
31
+ 0.011846774986019697
32
+ ],
33
+ "plum": [
34
+ 0.273340105835091,
35
+ -0.18851127999268258
36
+ ],
37
+ "apple": [
38
+ 0.37768911382694065,
39
+ 0.09881870963460025
40
+ ],
41
+ "orange": [
42
+ 0.38197569573178597,
43
+ -0.10032182872308751
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.33581049143881275
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.13479892394419543
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.13353057058851847
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3474062607589615
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1960724614278015,
65
+ "mass_ratios": {
66
+ "banana": 1.0061198308444392,
67
+ "lemon": 1.0596129804306214,
68
+ "plum": 0.9153403603945984,
69
+ "apple": 0.8074638665188452,
70
+ "orange": 0.9592733765324217,
71
+ "white_left_bowl": 0.9699928237303985,
72
+ "blue_left_bowl": 0.931050533700087,
73
+ "white_right_bowl": 1.1148878668961042,
74
+ "blue_right_bowl": 0.8595562771129238
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5218746662139893,
90
+ -0.13427633047103882,
91
+ 0.7781459093093872
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000536.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 536,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23152,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 223,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.26923733920293846,
27
+ 0.22545113088818933
28
+ ],
29
+ "lemon": [
30
+ 0.3270202940895318,
31
+ 0.0031205189502669112
32
+ ],
33
+ "plum": [
34
+ 0.2822985781602572,
35
+ -0.20199908640384387
36
+ ],
37
+ "apple": [
38
+ 0.37821059216644065,
39
+ 0.09938301266372648
40
+ ],
41
+ "orange": [
42
+ 0.3799853179270422,
43
+ -0.10339094912704314
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3450800062772785
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.1178925887367056
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3461351649388462
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.13166169448052958
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.2739436101857684,
65
+ "mass_ratios": {
66
+ "banana": 0.8306967444389733,
67
+ "lemon": 0.956177736213646,
68
+ "plum": 1.1678326964920975,
69
+ "apple": 0.959854909167929,
70
+ "orange": 0.8861183698887566,
71
+ "white_left_bowl": 0.8873001196685291,
72
+ "blue_left_bowl": 0.9501072408419873,
73
+ "white_right_bowl": 1.1927103869731142,
74
+ "blue_right_bowl": 0.8912918488442081
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.520354688167572,
90
+ 0.1180059015750885,
91
+ 0.7782606482505798
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000537.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 537,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23153,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 225,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27309162194651593,
27
+ 0.22998375159136786
28
+ ],
29
+ "lemon": [
30
+ 0.3194944353222903,
31
+ 0.007630419537843117
32
+ ],
33
+ "plum": [
34
+ 0.27546764530812146,
35
+ -0.19053827663071554
36
+ ],
37
+ "apple": [
38
+ 0.3801732120424477,
39
+ 0.0983768726430019
40
+ ],
41
+ "orange": [
42
+ 0.38025511841100323,
43
+ -0.0963041631620499
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3510364817532162
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.11427121556748412
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3315276672151629
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.12014967834618348
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.9141901687449593,
65
+ "mass_ratios": {
66
+ "banana": 0.8136083622842211,
67
+ "lemon": 0.9229815880331962,
68
+ "plum": 1.0542924889919025,
69
+ "apple": 1.19381877016328,
70
+ "orange": 1.0821556591724566,
71
+ "white_left_bowl": 0.8676700878763107,
72
+ "blue_left_bowl": 1.0040904229601109,
73
+ "white_right_bowl": 1.0569025801105192,
74
+ "blue_right_bowl": 1.0632060485453938
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5245434641838074,
90
+ -0.12361697852611542,
91
+ 0.7779066562652588
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000538.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 538,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23154,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 239,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28634535991052723,
27
+ 0.21928475169030792
28
+ ],
29
+ "lemon": [
30
+ 0.3312815833040531,
31
+ -0.003944026792055716
32
+ ],
33
+ "plum": [
34
+ 0.27044413390056576,
35
+ -0.20086639877779303
36
+ ],
37
+ "apple": [
38
+ 0.3780999509577215,
39
+ 0.09864547324602681
40
+ ],
41
+ "orange": [
42
+ 0.378793295364845,
43
+ -0.09627970524960865
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.34916394462837036
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.12810863410162956
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3322549156224512
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.1133779219434053
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.0508415967899243,
65
+ "mass_ratios": {
66
+ "banana": 1.125377583064809,
67
+ "lemon": 1.146137272000531,
68
+ "plum": 0.9279725136755756,
69
+ "apple": 0.803489723156058,
70
+ "orange": 1.0752195174285943,
71
+ "white_left_bowl": 0.9139555041609772,
72
+ "blue_left_bowl": 0.9863625300543661,
73
+ "white_right_bowl": 0.9660934470924873,
74
+ "blue_right_bowl": 0.9234624552123748
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5258491039276123,
90
+ 0.34220051765441895,
91
+ 0.7779347896575928
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000539.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 539,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23155,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 239,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27234103105918184,
27
+ 0.22763972919705774
28
+ ],
29
+ "lemon": [
30
+ 0.3299714602788548,
31
+ -0.003941961756023165
32
+ ],
33
+ "plum": [
34
+ 0.2730678416105655,
35
+ -0.19776164979588567
36
+ ],
37
+ "apple": [
38
+ 0.38116579729658634,
39
+ 0.09753134114291644
40
+ ],
41
+ "orange": [
42
+ 0.3816123232163444,
43
+ -0.09675270744856847
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.34306601676856624
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.12704499542361206
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3464816713703267
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.11121431351219707
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.8403408818988015,
65
+ "mass_ratios": {
66
+ "banana": 1.126760726060714,
67
+ "lemon": 0.8598592405263584,
68
+ "plum": 0.9607901526143418,
69
+ "apple": 1.0766480777414185,
70
+ "orange": 1.0187991662181377,
71
+ "white_left_bowl": 1.0032665053752474,
72
+ "blue_left_bowl": 1.149538074800688,
73
+ "white_right_bowl": 1.0685900594824382,
74
+ "blue_right_bowl": 0.8833685332651411
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5245299339294434,
90
+ -0.3473873734474182,
91
+ 0.7778878808021545
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000540.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 540,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23156,
7
+ "instruction": "Sort the lemon into the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 240,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2718849694390747,
27
+ 0.20965042957791283
28
+ ],
29
+ "lemon": [
30
+ 0.31699378616052476,
31
+ -0.007058134279236699
32
+ ],
33
+ "plum": [
34
+ 0.27594127210104835,
35
+ -0.1974065974466435
36
+ ],
37
+ "apple": [
38
+ 0.3816766085519079,
39
+ 0.0978330716267638
40
+ ],
41
+ "orange": [
42
+ 0.3763099869062439,
43
+ -0.10209006486411848
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.12497010952842838
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3319792320844524
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.1138772021819448
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.343921008259867
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.8844046923565909,
65
+ "mass_ratios": {
66
+ "banana": 0.852385940838603,
67
+ "lemon": 0.9141982859260276,
68
+ "plum": 1.104061198009931,
69
+ "apple": 0.8121707182672716,
70
+ "orange": 0.8673970786083134,
71
+ "white_left_bowl": 1.0349935497171954,
72
+ "blue_left_bowl": 0.9744805761793844,
73
+ "white_right_bowl": 0.8959202352778457,
74
+ "blue_right_bowl": 0.8929152099482177
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5203496217727661,
90
+ 0.3289547562599182,
91
+ 0.778315007686615
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000541.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 541,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23157,
7
+ "instruction": "Sort the lemon into the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 225,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27502649754185315,
27
+ 0.21216939060252893
28
+ ],
29
+ "lemon": [
30
+ 0.31685754281445005,
31
+ -0.009434967820579045
32
+ ],
33
+ "plum": [
34
+ 0.27836549247372877,
35
+ -0.1882295484853452
36
+ ],
37
+ "apple": [
38
+ 0.38100860446170964,
39
+ 0.09960816770533293
40
+ ],
41
+ "orange": [
42
+ 0.3759728837096852,
43
+ -0.10273959675466338
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.10561254678502714
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.35063118272726373
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.348742797316446
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.12454696633733806
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.7993927344432404,
65
+ "mass_ratios": {
66
+ "banana": 1.1800155919744704,
67
+ "lemon": 0.8600101599966551,
68
+ "plum": 0.9427308168371256,
69
+ "apple": 1.1888025544252803,
70
+ "orange": 0.9177914252647108,
71
+ "white_left_bowl": 0.9240235031838067,
72
+ "blue_left_bowl": 0.8928401849614049,
73
+ "white_right_bowl": 0.9481182329774511,
74
+ "blue_right_bowl": 0.8323848024729867
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5246614813804626,
90
+ -0.12690328061580658,
91
+ 0.7779160737991333
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000542.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 542,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23158,
7
+ "instruction": "Sort the lemon into the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 224,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2743353655454404,
27
+ 0.21206327801742933
28
+ ],
29
+ "lemon": [
30
+ 0.32419032757596083,
31
+ -0.009140629999262991
32
+ ],
33
+ "plum": [
34
+ 0.2841640326270678,
35
+ -0.2072590607597663
36
+ ],
37
+ "apple": [
38
+ 0.3800641171802928,
39
+ 0.10111649862194434
40
+ ],
41
+ "orange": [
42
+ 0.377613972619434,
43
+ -0.10374021130780832
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.12829448508766322
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.33140977566003543
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.10566745681959186
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.34317099968722564
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1486290828136951,
65
+ "mass_ratios": {
66
+ "banana": 1.025132408365955,
67
+ "lemon": 1.1648695019344748,
68
+ "plum": 1.0837750555895656,
69
+ "apple": 0.8020242640262333,
70
+ "orange": 1.170923031949999,
71
+ "white_left_bowl": 1.1422031272256103,
72
+ "blue_left_bowl": 1.0929260413894422,
73
+ "white_right_bowl": 0.8111528837256089,
74
+ "blue_right_bowl": 0.9067234484081247
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.527596652507782,
90
+ 0.121501125395298,
91
+ 0.7779961824417114
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000543.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 543,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23159,
7
+ "instruction": "Sort the lemon into the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 225,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": true,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2833161965842577,
27
+ 0.21519355635677875
28
+ ],
29
+ "lemon": [
30
+ 0.3154222449556423,
31
+ -0.009030295972574548
32
+ ],
33
+ "plum": [
34
+ 0.27705999694348826,
35
+ -0.20284831616314844
36
+ ],
37
+ "apple": [
38
+ 0.38045652321955997,
39
+ 0.09945099713920295
40
+ ],
41
+ "orange": [
42
+ 0.3805222171269195,
43
+ -0.1001318233518677
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.13394675769085806
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.3360658990557331
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.10692233548363334
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3545869471690912
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.7593626259457027,
65
+ "mass_ratios": {
66
+ "banana": 1.0760561853339214,
67
+ "lemon": 0.861106611907368,
68
+ "plum": 0.8956700775743416,
69
+ "apple": 1.0877499976115623,
70
+ "orange": 0.9335017729698081,
71
+ "white_left_bowl": 1.0617665925288962,
72
+ "blue_left_bowl": 0.9977490058904478,
73
+ "white_right_bowl": 0.8967187483377381,
74
+ "blue_right_bowl": 0.863364948287067
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5242055058479309,
90
+ -0.11091762781143188,
91
+ 0.7779752016067505
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000544.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 544,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23160,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 225,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28418111984277483,
27
+ 0.21505958942014186
28
+ ],
29
+ "lemon": [
30
+ 0.31634951120243265,
31
+ 0.004513747278620039
32
+ ],
33
+ "plum": [
34
+ 0.29005130406060753,
35
+ -0.20824041354704667
36
+ ],
37
+ "apple": [
38
+ 0.3808126239161739,
39
+ 0.10017527104750289
40
+ ],
41
+ "orange": [
42
+ 0.37666241959381264,
43
+ -0.0987523485904119
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3346051187384876
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.11530006100453655
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.11332443762208583
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3416073096002108
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.0414160284054867,
65
+ "mass_ratios": {
66
+ "banana": 0.8919209761591778,
67
+ "lemon": 1.16156366716754,
68
+ "plum": 1.0998776502012921,
69
+ "apple": 0.9350211951438294,
70
+ "orange": 1.1486683500779602,
71
+ "white_left_bowl": 1.1186640442487228,
72
+ "blue_left_bowl": 1.0831584259697697,
73
+ "white_right_bowl": 1.1951475887488399,
74
+ "blue_right_bowl": 0.8867924408286876
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5253771543502808,
90
+ 0.11186430603265762,
91
+ 0.7778838872909546
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000545.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 545,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23161,
7
+ "instruction": "Pick the lemon and place it in the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 239,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27158531362521554,
27
+ 0.20873865893698168
28
+ ],
29
+ "lemon": [
30
+ 0.32516129930997595,
31
+ -0.009466226681730062
32
+ ],
33
+ "plum": [
34
+ 0.28015904267459607,
35
+ -0.20981433491170637
36
+ ],
37
+ "apple": [
38
+ 0.3807730454701768,
39
+ 0.09850700975020239
40
+ ],
41
+ "orange": [
42
+ 0.3806965943122693,
43
+ -0.09789545062351478
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3337603305083224
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.11657631461512559
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.1228812977167592
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3344603868725552
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1073041450660697,
65
+ "mass_ratios": {
66
+ "banana": 1.1176922709724715,
67
+ "lemon": 0.832538149550317,
68
+ "plum": 0.8243881014505403,
69
+ "apple": 1.120075645874627,
70
+ "orange": 1.1428093516256839,
71
+ "white_left_bowl": 1.1938731067052566,
72
+ "blue_left_bowl": 0.988764213985986,
73
+ "white_right_bowl": 1.1075343588567415,
74
+ "blue_right_bowl": 1.023650253187364
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5259259343147278,
90
+ -0.3372246026992798,
91
+ 0.7780112624168396
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000546.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 546,
4
+ "task_id": "lemon_white_left",
5
+ "tier": "L1",
6
+ "seed": 23162,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 242,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.275274258446209,
27
+ 0.23061839958414945
28
+ ],
29
+ "lemon": [
30
+ 0.3105155671628804,
31
+ -0.0005807979060436074
32
+ ],
33
+ "plum": [
34
+ 0.2753799887970421,
35
+ -0.19936789170771801
36
+ ],
37
+ "apple": [
38
+ 0.3778064335182284,
39
+ 0.10193988215224509
40
+ ],
41
+ "orange": [
42
+ 0.3797672266236941,
43
+ -0.1030482291353029
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.338674493575198
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.12430775496615082
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3277295500548198
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.11750479037994263
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.1927227522212296,
65
+ "mass_ratios": {
66
+ "banana": 1.1410325717625722,
67
+ "lemon": 1.0189329269500584,
68
+ "plum": 1.086623626714368,
69
+ "apple": 0.9497907878912674,
70
+ "orange": 1.0263599830205985,
71
+ "white_left_bowl": 1.0100916965292155,
72
+ "blue_left_bowl": 0.8046985161642439,
73
+ "white_right_bowl": 0.9249418133985259,
74
+ "blue_right_bowl": 0.9980323399479661
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5320109128952026,
90
+ 0.3363419771194458,
91
+ 0.7777464389801025
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000547.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 547,
4
+ "task_id": "lemon_white_right",
5
+ "tier": "L1",
6
+ "seed": 23163,
7
+ "instruction": "Pick the lemon and place it in the white bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 225,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.2911957536017234,
27
+ 0.21579667738920078
28
+ ],
29
+ "lemon": [
30
+ 0.31906793035993225,
31
+ -0.0009561101633872113
32
+ ],
33
+ "plum": [
34
+ 0.28416181491278075,
35
+ -0.21146763810286778
36
+ ],
37
+ "apple": [
38
+ 0.3803615584027233,
39
+ 0.09887631505747192
40
+ ],
41
+ "orange": [
42
+ 0.3795183365608466,
43
+ -0.10105742633273578
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3522398510771112
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.12969544992847423
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.12048671365923316
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.3368528247504677
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.160151528763603,
65
+ "mass_ratios": {
66
+ "banana": 0.8080154691633232,
67
+ "lemon": 0.9737085203601915,
68
+ "plum": 0.9903594532542294,
69
+ "apple": 1.1884725208441413,
70
+ "orange": 1.1408181339386574,
71
+ "white_left_bowl": 1.0468158214002594,
72
+ "blue_left_bowl": 0.889566008804655,
73
+ "white_right_bowl": 0.981348473543812,
74
+ "blue_right_bowl": 0.85488938684452
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5196173787117004,
90
+ -0.11994870752096176,
91
+ 0.7782015800476074
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "white_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000548.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 548,
4
+ "task_id": "lemon_blue_left",
5
+ "tier": "L1",
6
+ "seed": 23164,
7
+ "instruction": "Sort the lemon into the blue bowl on the left.",
8
+ "success": true,
9
+ "frame_count": 223,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": true
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.28920768299448785,
27
+ 0.22014621495830444
28
+ ],
29
+ "lemon": [
30
+ 0.32697024816632825,
31
+ 0.004322935550171429
32
+ ],
33
+ "plum": [
34
+ 0.28317826235144883,
35
+ -0.21129201932524666
36
+ ],
37
+ "apple": [
38
+ 0.3825993471895447,
39
+ 0.09749030539643666
40
+ ],
41
+ "orange": [
42
+ 0.37663766659703163,
43
+ -0.09639038982293943
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3546635641534904
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.11123056967788023
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.10646653490352999
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.34970563702201135
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 1.2090711434367485,
65
+ "mass_ratios": {
66
+ "banana": 0.8023894616677997,
67
+ "lemon": 0.8032494754701198,
68
+ "plum": 1.1495612906222747,
69
+ "apple": 1.1280633628998864,
70
+ "orange": 0.8779626148572083,
71
+ "white_left_bowl": 1.124660310146743,
72
+ "blue_left_bowl": 0.9439460148910204,
73
+ "white_right_bowl": 1.0975540778903787,
74
+ "blue_right_bowl": 1.046172688834616
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5238512754440308,
90
+ 0.10771197825670242,
91
+ 0.7781976461410522
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_left_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }
certificates/episode_000549.json ADDED
@@ -0,0 +1,113 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "schema_version": 1,
3
+ "episode_index": 549,
4
+ "task_id": "lemon_blue_right",
5
+ "tier": "L1",
6
+ "seed": 23165,
7
+ "instruction": "Sort the lemon into the blue bowl on the right.",
8
+ "success": true,
9
+ "frame_count": 222,
10
+ "strict_physics": true,
11
+ "rigid_pose_write_guard": true,
12
+ "kinematic_intervention_count": 0,
13
+ "layout": {
14
+ "arrangement": {
15
+ "left": "home_slots",
16
+ "right": "home_slots"
17
+ },
18
+ "color_swapped": {
19
+ "left": false,
20
+ "right": false
21
+ },
22
+ "fruit_pack": "home_jitter"
23
+ },
24
+ "initial_object_xy": {
25
+ "banana": [
26
+ 0.27804450191601027,
27
+ 0.2291339630645718
28
+ ],
29
+ "lemon": [
30
+ 0.3306291767081328,
31
+ -0.005319544913365067
32
+ ],
33
+ "plum": [
34
+ 0.28819389193508294,
35
+ -0.20455404961692475
36
+ ],
37
+ "apple": [
38
+ 0.379106966703269,
39
+ 0.10182560191047922
40
+ ],
41
+ "orange": [
42
+ 0.38026533078700925,
43
+ -0.10378979834071149
44
+ ],
45
+ "white_left_bowl": [
46
+ 0.52,
47
+ 0.3404671922609549
48
+ ],
49
+ "blue_left_bowl": [
50
+ 0.52,
51
+ 0.12017943717100726
52
+ ],
53
+ "white_right_bowl": [
54
+ 0.52,
55
+ -0.3260818131727552
56
+ ],
57
+ "blue_right_bowl": [
58
+ 0.52,
59
+ -0.11257734621341349
60
+ ]
61
+ },
62
+ "runtime_randomization": {
63
+ "enabled": true,
64
+ "friction_ratio": 0.9077782683805276,
65
+ "mass_ratios": {
66
+ "banana": 0.9042592991195975,
67
+ "lemon": 1.1179700166162911,
68
+ "plum": 0.9697579938890116,
69
+ "apple": 0.9937796596306191,
70
+ "orange": 0.8982735068464273,
71
+ "white_left_bowl": 0.9869662114564911,
72
+ "blue_left_bowl": 0.8693489319544982,
73
+ "white_right_bowl": 0.9980777025917272,
74
+ "blue_right_bowl": 0.9879930685768198
75
+ },
76
+ "world_camera_position_delta": [
77
+ 0.0,
78
+ 0.0,
79
+ 0.0
80
+ ],
81
+ "world_camera_lookat_delta": [
82
+ 0.0,
83
+ 0.0,
84
+ 0.0
85
+ ]
86
+ },
87
+ "final_goal_positions": {
88
+ "lemon": [
89
+ 0.5222510099411011,
90
+ -0.11259326338768005,
91
+ 0.7784525156021118
92
+ ]
93
+ },
94
+ "success_report": {
95
+ "success": true,
96
+ "n_goals": 1,
97
+ "n_success": 1,
98
+ "partial_success_rate": 1.0,
99
+ "goals": [
100
+ {
101
+ "object": "lemon",
102
+ "container": "blue_right_bowl",
103
+ "success": true,
104
+ "object_correct": true,
105
+ "target_correct": true
106
+ }
107
+ ],
108
+ "object_correct": true,
109
+ "target_correct": true,
110
+ "strict_physics": true
111
+ },
112
+ "source_commit": "dbc12b69e88be787b679bb41cf2026ca43e0eda6"
113
+ }