{
  "backend": "robotwin",
  "by_task": {
    "dump_bin_bigbin": {
      "episodes": 2,
      "successes": 1,
      "errors": 1
    },
    "open_laptop": {
      "episodes": 2,
      "successes": 2,
      "errors": 0
    },
    "pick_diverse_bottles": {
      "episodes": 2,
      "successes": 0,
      "errors": 2
    },
    "place_bread_basket": {
      "episodes": 2,
      "successes": 2,
      "errors": 0
    },
    "place_can_basket": {
      "episodes": 2,
      "successes": 0,
      "errors": 1
    },
    "place_shoe": {
      "episodes": 2,
      "successes": 2,
      "errors": 0
    },
    "scan_object": {
      "episodes": 2,
      "successes": 1,
      "errors": 0
    }
  },
  "episodes": 14,
  "successes": 8,
  "errors": 4,
  "wall_seconds": 482.65499936020933,
  "results": [
    {
      "backend": "robotwin",
      "task": "dump_bin_bigbin",
      "seed": 901,
      "label": "RoboTwin / dump_bin_bigbin",
      "validation_version": 1,
      "debug": false,
      "success": false,
      "status": "error",
      "planning_success": false,
      "control_success": false,
      "execution_success": false,
      "task_success": false,
      "error": "UnStableError('Objects is unstable in seed(901), unstable objects: garbage, garbage, garbage, garbage')",
      "traceback": "Traceback (most recent call last):\n  File \"/user/panmiao/workspace/robot_stack/releases/expanded_v4/benchmark_collector/robotwin.py\", line 102, in main\n    env.setup_demo(now_ep_num=0, seed=seed, **cfg)\n  File \"/user/panmiao/workspace/robodojo-data-windtunnel/runtime/RoboTwin/envs/dump_bin_bigbin.py\", line 10, in setup_demo\n    super()._init_task_env_(table_xy_bias=[0.3, 0], **kwags)\n  File \"/user/panmiao/workspace/robodojo-data-windtunnel/runtime/RoboTwin/envs/_base_task.py\", line 138, in _init_task_env_\n    raise UnStableError(\nenvs.utils.create_actor.UnStableError: Objects is unstable in seed(901), unstable objects: garbage, garbage, garbage, garbage\n",
      "duration_seconds": 65.2132921081502
    },
    {
      "backend": "robotwin",
      "task": "dump_bin_bigbin",
      "seed": 902,
      "label": "RoboTwin / dump_bin_bigbin",
      "validation_version": 1,
      "debug": false,
      "success": true,
      "status": "success",
      "planning_success": true,
      "control_success": true,
      "execution_success": true,
      "task_success": true,
      "native_frames": 190,
      "dataset_shapes": {
        "endpose/left_endpose": [
          190,
          7
        ],
        "endpose/left_gripper": [
          190
        ],
        "endpose/right_endpose": [
          190,
          7
        ],
        "endpose/right_gripper": [
          190
        ],
        "joint_action/left_arm": [
          190,
          6
        ],
        "joint_action/left_gripper": [
          190
        ],
        "joint_action/right_arm": [
          190,
          6
        ],
        "joint_action/right_gripper": [
          190
        ],
        "joint_action/vector": [
          190,
          14
        ],
        "observation/front_camera/cam2world_gl": [
          190,
          4,
          4
        ],
        "observation/front_camera/extrinsic_cv": [
          190,
          3,
          4
        ],
        "observation/front_camera/intrinsic_cv": [
          190,
          3,
          3
        ],
        "observation/front_camera/rgb": [
          190
        ],
        "observation/head_camera/cam2world_gl": [
          190,
          4,
          4
        ],
        "observation/head_camera/extrinsic_cv": [
          190,
          3,
          4
        ],
        "observation/head_camera/intrinsic_cv": [
          190,
          3,
          3
        ],
        "observation/head_camera/rgb": [
          190
        ],
        "pointcloud": [
          190,
          0
        ]
      },
      "trajectory_file": "ep_0902/data/episode0.hdf5",
      "trajectory_sha256": "29e409e11241e996ce204131346fd9ab55d8881680f82d640502359719d01844",
      "native_info": {
        "cluttered_table_info": [],
        "texture_info": {
          "wall_texture": null,
          "table_texture": null
        },
        "info": {
          "{A}": "063_tabletrashbin/base9"
        }
      },
      "duration_seconds": 39.47473989590071
    },
    {
      "backend": "robotwin",
      "task": "open_laptop",
      "seed": 901,
      "label": "RoboTwin / open_laptop",
      "validation_version": 1,
      "debug": false,
      "success": true,
      "status": "success",
      "planning_success": true,
      "control_success": true,
      "execution_success": true,
      "task_success": true,
      "native_frames": 84,
      "dataset_shapes": {
        "endpose/left_endpose": [
          84,
          7
        ],
        "endpose/left_gripper": [
          84
        ],
        "endpose/right_endpose": [
          84,
          7
        ],
        "endpose/right_gripper": [
          84
        ],
        "joint_action/left_arm": [
          84,
          6
        ],
        "joint_action/left_gripper": [
          84
        ],
        "joint_action/right_arm": [
          84,
          6
        ],
        "joint_action/right_gripper": [
          84
        ],
        "joint_action/vector": [
          84,
          14
        ],
        "observation/front_camera/cam2world_gl": [
          84,
          4,
          4
        ],
        "observation/front_camera/extrinsic_cv": [
          84,
          3,
          4
        ],
        "observation/front_camera/intrinsic_cv": [
          84,
          3,
          3
        ],
        "observation/front_camera/rgb": [
          84
        ],
        "observation/head_camera/cam2world_gl": [
          84,
          4,
          4
        ],
        "observation/head_camera/extrinsic_cv": [
          84,
          3,
          4
        ],
        "observation/head_camera/intrinsic_cv": [
          84,
          3,
          3
        ],
        "observation/head_camera/rgb": [
          84
        ],
        "pointcloud": [
          84,
          0
        ]
      },
      "trajectory_file": "ep_0901/data/episode0.hdf5",
      "trajectory_sha256": "c904eed40eb8444014654e84f4083152490439e227316ff800b6b584ee0954a6",
      "native_info": {
        "cluttered_table_info": [],
        "texture_info": {
          "wall_texture": null,
          "table_texture": null
        },
        "info": {
          "{A}": "015_laptop/base1",
          "{a}": "right"
        }
      },
      "duration_seconds": 36.136749325087294
    },
    {
      "backend": "robotwin",
      "task": "open_laptop",
      "seed": 902,
      "label": "RoboTwin / open_laptop",
      "validation_version": 1,
      "debug": false,
      "success": true,
      "status": "success",
      "planning_success": true,
      "control_success": true,
      "execution_success": true,
      "task_success": true,
      "native_frames": 127,
      "dataset_shapes": {
        "endpose/left_endpose": [
          127,
          7
        ],
        "endpose/left_gripper": [
          127
        ],
        "endpose/right_endpose": [
          127,
          7
        ],
        "endpose/right_gripper": [
          127
        ],
        "joint_action/left_arm": [
          127,
          6
        ],
        "joint_action/left_gripper": [
          127
        ],
        "joint_action/right_arm": [
          127,
          6
        ],
        "joint_action/right_gripper": [
          127
        ],
        "joint_action/vector": [
          127,
          14
        ],
        "observation/front_camera/cam2world_gl": [
          127,
          4,
          4
        ],
        "observation/front_camera/extrinsic_cv": [
          127,
          3,
          4
        ],
        "observation/front_camera/intrinsic_cv": [
          127,
          3,
          3
        ],
        "observation/front_camera/rgb": [
          127
        ],
        "observation/head_camera/cam2world_gl": [
          127,
          4,
          4
        ],
        "observation/head_camera/extrinsic_cv": [
          127,
          3,
          4
        ],
        "observation/head_camera/intrinsic_cv": [
          127,
          3,
          3
        ],
        "observation/head_camera/rgb": [
          127
        ],
        "pointcloud": [
          127,
          0
        ]
      },
      "trajectory_file": "ep_0902/data/episode0.hdf5",
      "trajectory_sha256": "d3739eeb31a29abb49980463fe20cb8811a0343b317181971d7e8632ba4d6ba0",
      "native_info": {
        "cluttered_table_info": [],
        "texture_info": {
          "wall_texture": null,
          "table_texture": null
        },
        "info": {
          "{A}": "015_laptop/base7",
          "{a}": "left"
        }
      },
      "duration_seconds": 34.64092790288851
    },
    {
      "backend": "robotwin",
      "task": "pick_diverse_bottles",
      "seed": 901,
      "label": "RoboTwin / pick_diverse_bottles",
      "validation_version": 1,
      "debug": false,
      "success": false,
      "status": "error",
      "planning_success": false,
      "control_success": false,
      "execution_success": false,
      "task_success": false,
      "error": "UnStableError('Objects is unstable in seed(901), unstable objects: 001_bottle, 001_bottle')",
      "traceback": "Traceback (most recent call last):\n  File \"/user/panmiao/workspace/robot_stack/releases/expanded_v4/benchmark_collector/robotwin.py\", line 102, in main\n    env.setup_demo(now_ep_num=0, seed=seed, **cfg)\n  File \"/user/panmiao/workspace/robodojo-data-windtunnel/runtime/RoboTwin/envs/pick_diverse_bottles.py\", line 10, in setup_demo\n    super()._init_task_env_(**kwags)\n  File \"/user/panmiao/workspace/robodojo-data-windtunnel/runtime/RoboTwin/envs/_base_task.py\", line 138, in _init_task_env_\n    raise UnStableError(\nenvs.utils.create_actor.UnStableError: Objects is unstable in seed(901), unstable objects: 001_bottle, 001_bottle\n",
      "duration_seconds": 16.979919417062774
    },
    {
      "backend": "robotwin",
      "task": "pick_diverse_bottles",
      "seed": 902,
      "label": "RoboTwin / pick_diverse_bottles",
      "validation_version": 1,
      "debug": false,
      "success": false,
      "status": "error",
      "planning_success": false,
      "control_success": false,
      "execution_success": false,
      "task_success": false,
      "error": "UnStableError('Objects is unstable in seed(902), unstable objects: 001_bottle')",
      "traceback": "Traceback (most recent call last):\n  File \"/user/panmiao/workspace/robot_stack/releases/expanded_v4/benchmark_collector/robotwin.py\", line 102, in main\n    env.setup_demo(now_ep_num=0, seed=seed, **cfg)\n  File \"/user/panmiao/workspace/robodojo-data-windtunnel/runtime/RoboTwin/envs/pick_diverse_bottles.py\", line 10, in setup_demo\n    super()._init_task_env_(**kwags)\n  File \"/user/panmiao/workspace/robodojo-data-windtunnel/runtime/RoboTwin/envs/_base_task.py\", line 138, in _init_task_env_\n    raise UnStableError(\nenvs.utils.create_actor.UnStableError: Objects is unstable in seed(902), unstable objects: 001_bottle\n",
      "duration_seconds": 17.375736280111596
    },
    {
      "backend": "robotwin",
      "task": "place_bread_basket",
      "seed": 901,
      "label": "RoboTwin / place_bread_basket",
      "validation_version": 1,
      "debug": false,
      "success": true,
      "status": "success",
      "planning_success": true,
      "control_success": true,
      "execution_success": true,
      "task_success": true,
      "native_frames": 128,
      "dataset_shapes": {
        "endpose/left_endpose": [
          128,
          7
        ],
        "endpose/left_gripper": [
          128
        ],
        "endpose/right_endpose": [
          128,
          7
        ],
        "endpose/right_gripper": [
          128
        ],
        "joint_action/left_arm": [
          128,
          6
        ],
        "joint_action/left_gripper": [
          128
        ],
        "joint_action/right_arm": [
          128,
          6
        ],
        "joint_action/right_gripper": [
          128
        ],
        "joint_action/vector": [
          128,
          14
        ],
        "observation/front_camera/cam2world_gl": [
          128,
          4,
          4
        ],
        "observation/front_camera/extrinsic_cv": [
          128,
          3,
          4
        ],
        "observation/front_camera/intrinsic_cv": [
          128,
          3,
          3
        ],
        "observation/front_camera/rgb": [
          128
        ],
        "observation/head_camera/cam2world_gl": [
          128,
          4,
          4
        ],
        "observation/head_camera/extrinsic_cv": [
          128,
          3,
          4
        ],
        "observation/head_camera/intrinsic_cv": [
          128,
          3,
          3
        ],
        "observation/head_camera/rgb": [
          128
        ],
        "pointcloud": [
          128,
          0
        ]
      },
      "trajectory_file": "ep_0901/data/episode0.hdf5",
      "trajectory_sha256": "76e5dd040140512f084994acb88973cc07c3e60c06f65fba66490daaa48d4af7",
      "native_info": {
        "cluttered_table_info": [],
        "texture_info": {
          "wall_texture": null,
          "table_texture": null
        },
        "info": {
          "{A}": "076_breadbasket/base0",
          "{B}": "075_bread/base5",
          "{a}": "dual",
          "{C}": "075_bread/base5"
        }
      },
      "duration_seconds": 35.33684026496485
    },
    {
      "backend": "robotwin",
      "task": "place_bread_basket",
      "seed": 902,
      "label": "RoboTwin / place_bread_basket",
      "validation_version": 1,
      "debug": false,
      "success": true,
      "status": "success",
      "planning_success": true,
      "control_success": true,
      "execution_success": true,
      "task_success": true,
      "native_frames": 127,
      "dataset_shapes": {
        "endpose/left_endpose": [
          127,
          7
        ],
        "endpose/left_gripper": [
          127
        ],
        "endpose/right_endpose": [
          127,
          7
        ],
        "endpose/right_gripper": [
          127
        ],
        "joint_action/left_arm": [
          127,
          6
        ],
        "joint_action/left_gripper": [
          127
        ],
        "joint_action/right_arm": [
          127,
          6
        ],
        "joint_action/right_gripper": [
          127
        ],
        "joint_action/vector": [
          127,
          14
        ],
        "observation/front_camera/cam2world_gl": [
          127,
          4,
          4
        ],
        "observation/front_camera/extrinsic_cv": [
          127,
          3,
          4
        ],
        "observation/front_camera/intrinsic_cv": [
          127,
          3,
          3
        ],
        "observation/front_camera/rgb": [
          127
        ],
        "observation/head_camera/cam2world_gl": [
          127,
          4,
          4
        ],
        "observation/head_camera/extrinsic_cv": [
          127,
          3,
          4
        ],
        "observation/head_camera/intrinsic_cv": [
          127,
          3,
          3
        ],
        "observation/head_camera/rgb": [
          127
        ],
        "pointcloud": [
          127,
          0
        ]
      },
      "trajectory_file": "ep_0902/data/episode0.hdf5",
      "trajectory_sha256": "4545c57da928aa7ee065ad51bc279bf50e4ae57e41125146ff609fc04d123637",
      "native_info": {
        "cluttered_table_info": [],
        "texture_info": {
          "wall_texture": null,
          "table_texture": null
        },
        "info": {
          "{A}": "076_breadbasket/base4",
          "{B}": "075_bread/base5",
          "{a}": "dual",
          "{C}": "075_bread/base6"
        }
      },
      "duration_seconds": 34.16767357289791
    },
    {
      "backend": "robotwin",
      "task": "place_can_basket",
      "seed": 901,
      "label": "RoboTwin / place_can_basket",
      "validation_version": 1,
      "debug": false,
      "success": false,
      "status": "error",
      "planning_success": false,
      "control_success": false,
      "execution_success": false,
      "task_success": false,
      "error": "AssertionError('target_pose cannot be None for move action.')",
      "traceback": "Traceback (most recent call last):\n  File \"/user/panmiao/workspace/robot_stack/releases/expanded_v4/benchmark_collector/robotwin.py\", line 103, in main\n    native_info = env.play_once()\n  File \"/user/panmiao/workspace/robodojo-data-windtunnel/runtime/RoboTwin/envs/place_can_basket.py\", line 113, in play_once\n    self.grasp_actor(self.basket, arm_tag=self.arm_tag.opposite, pre_grasp_dis=0.02),\n  File \"/user/panmiao/workspace/robodojo-data-windtunnel/runtime/RoboTwin/envs/_base_task.py\", line 1205, in grasp_actor\n    Action(arm_tag, \"move\", target_pose=pre_grasp_pose),\n  File \"/user/panmiao/workspace/robodojo-data-windtunnel/runtime/RoboTwin/envs/utils/action.py\", line 76, in __init__\n    assert (target_pose is not None), \"target_pose cannot be None for move action.\"\nAssertionError: target_pose cannot be None for move action.\n",
      "duration_seconds": 40.27085298602469
    },
    {
      "backend": "robotwin",
      "task": "place_can_basket",
      "seed": 902,
      "label": "RoboTwin / place_can_basket",
      "validation_version": 1,
      "debug": false,
      "success": false,
      "status": "task_failed",
      "planning_success": true,
      "control_success": false,
      "execution_success": true,
      "task_success": false,
      "native_frames": 135,
      "dataset_shapes": {
        "endpose/left_endpose": [
          135,
          7
        ],
        "endpose/left_gripper": [
          135
        ],
        "endpose/right_endpose": [
          135,
          7
        ],
        "endpose/right_gripper": [
          135
        ],
        "joint_action/left_arm": [
          135,
          6
        ],
        "joint_action/left_gripper": [
          135
        ],
        "joint_action/right_arm": [
          135,
          6
        ],
        "joint_action/right_gripper": [
          135
        ],
        "joint_action/vector": [
          135,
          14
        ],
        "observation/front_camera/cam2world_gl": [
          135,
          4,
          4
        ],
        "observation/front_camera/extrinsic_cv": [
          135,
          3,
          4
        ],
        "observation/front_camera/intrinsic_cv": [
          135,
          3,
          3
        ],
        "observation/front_camera/rgb": [
          135
        ],
        "observation/head_camera/cam2world_gl": [
          135,
          4,
          4
        ],
        "observation/head_camera/extrinsic_cv": [
          135,
          3,
          4
        ],
        "observation/head_camera/intrinsic_cv": [
          135,
          3,
          3
        ],
        "observation/head_camera/rgb": [
          135
        ],
        "pointcloud": [
          135,
          0
        ]
      },
      "trajectory_file": "ep_0902/data/episode0.hdf5",
      "trajectory_sha256": "a56c1d45ea53a621d940a3e89c6f66d123a7f7a7d0d8528ab10a6c5587b3e7ac",
      "native_info": {
        "cluttered_table_info": [],
        "texture_info": {
          "wall_texture": null,
          "table_texture": null
        },
        "info": {
          "{A}": "071_can/base3",
          "{B}": "110_basket/base1",
          "{a}": "right"
        }
      },
      "duration_seconds": 39.589704972924665
    },
    {
      "backend": "robotwin",
      "task": "place_shoe",
      "seed": 901,
      "label": "RoboTwin / place_shoe",
      "validation_version": 1,
      "debug": false,
      "success": true,
      "status": "success",
      "planning_success": true,
      "control_success": true,
      "execution_success": true,
      "task_success": true,
      "native_frames": 102,
      "dataset_shapes": {
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          102,
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        "endpose/left_gripper": [
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        "endpose/right_endpose": [
          102,
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        ],
        "endpose/right_gripper": [
          102
        ],
        "joint_action/left_arm": [
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          6
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        "joint_action/left_gripper": [
          102
        ],
        "joint_action/right_arm": [
          102,
          6
        ],
        "joint_action/right_gripper": [
          102
        ],
        "joint_action/vector": [
          102,
          14
        ],
        "observation/front_camera/cam2world_gl": [
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          4,
          4
        ],
        "observation/front_camera/extrinsic_cv": [
          102,
          3,
          4
        ],
        "observation/front_camera/intrinsic_cv": [
          102,
          3,
          3
        ],
        "observation/front_camera/rgb": [
          102
        ],
        "observation/head_camera/cam2world_gl": [
          102,
          4,
          4
        ],
        "observation/head_camera/extrinsic_cv": [
          102,
          3,
          4
        ],
        "observation/head_camera/intrinsic_cv": [
          102,
          3,
          3
        ],
        "observation/head_camera/rgb": [
          102
        ],
        "pointcloud": [
          102,
          0
        ]
      },
      "trajectory_file": "ep_0901/data/episode0.hdf5",
      "trajectory_sha256": "fc7ed79a0b5ff908eeba43229f72cb6065bd44c547ffd9a1e6ed6504221c900c",
      "native_info": {
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        "texture_info": {
          "wall_texture": null,
          "table_texture": null
        },
        "info": {
          "{A}": "041_shoe/base0",
          "{a}": "right"
        }
      },
      "duration_seconds": 29.435137232067063
    },
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