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arm links and palm collision-excluded; no selfcollision qualification", "config": { "timestep": 0.001, "control_dt": 0.02, "horizon": 18.0, "settle_time": 0.4, "object_position": [ 0.532208, 0.078891, 0.31 ], "target_position": [ 0.314537, -0.125429, 0.31 ], "object_half_size": [ 0.015, 0.0175, 0.02 ], "object_mass": 0.02, "object_friction": 1.5, "table_height": 0.29, "position_tolerance": 0.025, "dwell_seconds": 0.25, "scene_jitter": 0.0, "joint_torque_limit": 2.0, "jaw_force_limit": 0.25, "joint_target_rate_limit": 3.0, "jaw_width_rate_limit": 0.16, "gravity": 9.81 }, "engine": "3.15.0", "scene_sha256": "bfa44bbdddf5e1360fcd57ea87e141c009775b333cfc38f9eca027f786949be6" }, "final_object_position": [ 0.5322079976071951, 0.07889100209202814, 0.3099914782969371 ], "metrics": { "samples": 900, "max_abs_joint_velocity_rad_s": [ 0.18124989705391573, 0.3889706447412197, 0.6377677420506287, 0.0013007574271649755, 0.46609140013391553, 0.21584265942097805 ], "max_abs_actuator_force": [ 0.20271474819958257, 2.0, 1.101261110570249, 0.002760820888310335, 0.11773433158055013, 0.02887048546983806, 0.018727498296762235, 0.08164739880976946 ], "max_abs_native_ctrl": [ 0.5876254253317039, 1.6086301305003878, 2.000250578930779, 4.0793736610776065e-05, 0.5431007438683256, 0.5876678832380614, 0.04, 0.04 ], "max_abs_commanded_joint_target_rad": [ 0.5876236220905287, 1.6065266158120997, 2.002475063426157, 4.079959184428197e-05, 0.54242090846687, 0.5876678848786371 ], "commanded_gripper_width_min_max_m": [ 0.08, 0.08 ], "actual_gripper_width_min_max_m": [ 0.0798648464461281, 0.07999999999474094 ], "joint_position_min_rad": [ -0.5970674838905691, -1.6065266160533174, 0.5914921527813081, -4.04079629347435e-05, -0.5424186304791745, -0.14716394794007048 ], "joint_position_max_rad": [ 0.14716384589002293, -0.789110283394973, 2.0023805488143904, 2.9990301986663804e-05, 0.23080915503811866, 0.5954011018979751 ], "actuator_saturation_samples": [ 0, 92, 0, 0, 0, 0, 0, 0 ], "min_joint_limit_margin_rad": 0.5934733839466828, "max_contact_count_sampled": 4, "max_contact_penetration_m_sampled": 8.521703068815576e-06, "retained_lift_control_samples": 0, "max_object_displacement_m": 6.097608884588379e-12, "max_object_linear_speed_m_s": 5.537781289892062e-13, "max_object_angular_speed_rad_s": 3.580218162894488e-11, "jaw_contact_sliding_mu": [], "table_contact_sliding_mu": [ 1.5 ], "retained_object_minus_tcp_range_world_m": null, "actuator_force_caps": [ 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 0.25, 0.25 ], "actuator_units": [ "N*m", "N*m", "N*m", "N*m", "N*m", "N*m", "N", "N" ] }, "control_latency_p50_seconds": 0.001374021521769464, "control_latency_p95_seconds": 0.0014890830498188734, "model": { "nq": 15, "nv": 14, "nu": 8, "nmocap": 0, "neq": 0 }, "warning_counts": {}, "policy_diagnostics": { "revision": "dimension-aware-contact-rates-recovery-round2", "phase": "approach", "action_phase": "observe", "phase_elapsed_seconds": 0.0, "failure_reason": null, "failure_phase": null, "failure_simulation_time": null, "grip_normal_demand_n": 0.0, "grip_normal_target_n": 0.0, "grip_force_limited": false, "pad_normal_forces_n": { "left": 0.0, "right": 0.0 }, "commanded_grip_gap_m": null, "loaded_translation_tracking_step_m": 0.006, "recovery_count": 0, "recovery_reason": null, "saturated_joint_indices": [], "actuator_saturation_control_samples": 0, "last_cartesian_goal_m": null, "observations": "privileged simulator state", "policy_origin": "authored controller", "recovery_scope": "at most one resettled upright, axis-aligned box on the same table", "command_rate_scope": "native-tick target ramp before gravity feedforward; actual velocity is measured separately" }, "episode_wall_seconds": 1.2909862919477746, "simulated_seconds_per_wall_second": 13.94282814021327 } ], "summary": { "successes": 29, "cases": 32, "groups": { "actuator_stress": { "successes": 5, "cases": 8, "failure_categories": { "failed_grasp": 2, "success": 5, "failed_release": 1 } }, "nominal": { "successes": 24, "cases": 24, "failure_categories": { "success": 24 } } }, "reasons": { "success": 29, "horizon": 3 }, "episode_wall_seconds": 38.0122980006272, "simulated_seconds": 432.8739999999481 } }