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mug_grasp_handle_eval

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The dataset generation failed

Error code:   DatasetGenerationError
Exception:    ArrowInvalid
Message:      Schema at index 5 was different: 
tag: string
case: string
mug: string
handle_idx: int64
source: string
object_euler: list<item: double>
object_scale: double
pedestal_h: double
xy: list<item: double>
success: bool
obj_z_delta: double
ik_failures: int64
n_steps: int64
elapsed_s: double
vs
tag: string
case: string
mug: string
handle_idx: int64
source: string
object_euler: list<item: double>
object_scale: null
pedestal_h: double
xy: list<item: double>
success: bool
obj_z_delta: double
ik_failures: int64
n_steps: int64
elapsed_s: double
Traceback:    Traceback (most recent call last):
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1914, in _prepare_split_single
                  num_examples, num_bytes = writer.finalize()
                                            ^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 781, in finalize
                  self.write_rows_on_file()
                File "/usr/local/lib/python3.12/site-packages/datasets/arrow_writer.py", line 662, in write_rows_on_file
                  table = pa.concat_tables(self.current_rows)
                          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "pyarrow/table.pxi", line 6319, in pyarrow.lib.concat_tables
                File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
                File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
              pyarrow.lib.ArrowInvalid: Schema at index 5 was different: 
              tag: string
              case: string
              mug: string
              handle_idx: int64
              source: string
              object_euler: list<item: double>
              object_scale: double
              pedestal_h: double
              xy: list<item: double>
              success: bool
              obj_z_delta: double
              ik_failures: int64
              n_steps: int64
              elapsed_s: double
              vs
              tag: string
              case: string
              mug: string
              handle_idx: int64
              source: string
              object_euler: list<item: double>
              object_scale: null
              pedestal_h: double
              xy: list<item: double>
              success: bool
              obj_z_delta: double
              ik_failures: int64
              n_steps: int64
              elapsed_s: double
              
              The above exception was the direct cause of the following exception:
              
              Traceback (most recent call last):
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1347, in compute_config_parquet_and_info_response
                  parquet_operations = convert_to_parquet(builder)
                                       ^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 980, in convert_to_parquet
                  builder.download_and_prepare(
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 884, in download_and_prepare
                  self._download_and_prepare(
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 947, in _download_and_prepare
                  self._prepare_split(split_generator, **prepare_split_kwargs)
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1739, in _prepare_split
                  for job_id, done, content in self._prepare_split_single(
                                               ^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1925, in _prepare_split_single
                  raise DatasetGenerationError("An error occurred while generating the dataset") from e
              datasets.exceptions.DatasetGenerationError: An error occurred while generating the dataset

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tag string	case string	mug string	handle_idx int64	source string	object_euler list	object_scale float64	pedestal_h float64	xy list	success bool	obj_z_delta float64	ik_failures int64	n_steps int64	elapsed_s float64
coffee_cup_rot180_h03_e000	coffee_cup_rot180	coffee_cup	3	scan	[ 90, 0, 450 ]	1.2	0.15	[ 0.2, 0.15 ]	false	-0.376486	0	48	7.100706
coffee_cup_rot180_h03_e001	coffee_cup_rot180	coffee_cup	3	jitter	[ 90, 0, 261.0220075063 ]	1.2	0.14965	[ 0.1318763447, 0.183347748 ]	false	0.020273	0	150	23.613257
coffee_cup_rot180_h03_e002	coffee_cup_rot180	coffee_cup	3	scan	[ 90, 0, 270 ]	1.2	0.15	[ 0.15, 0.2 ]	true	0.033207	0	150	23.810223
coffee_cup_rot180_h03_e003	coffee_cup_rot180	coffee_cup	3	jitter	[ 90, 0, 630.0943228176 ]	1.2	0.140302	[ 0.1550478487, 0.2103440505 ]	false	-0.353144	0	34	4.851082
coffee_cup_rot180_h03_e004	coffee_cup_rot180	coffee_cup	3	jitter	[ 90, 0, 643.3292299599 ]	1.2	0.159755	[ 0.1559135029, 0.2148487477 ]	false	0.018677	0	150	22.774487
cup_rot090_h02_e005	cup_rot090	cup	2	scan	[ 90, 0, 360 ]	null	0.15	[ 0.15, 0.2 ]	false	0.000287	0	150	18.721421
cup_rot090_h02_e006	cup_rot090	cup	2	jitter	[ 90, 0, 170.1126890732 ]	null	0.164026	[ 0.1928007298, 0.1563465497 ]	false	0.000007	0	150	18.159709
cup_rot090_h02_e007	cup_rot090	cup	2	jitter	[ 90, 0, 177.6438189947 ]	null	0.149419	[ 0.1510926113, 0.2015735945 ]	false	0.000001	0	150	18.20342
cup_rot090_h02_e008	cup_rot090	cup	2	jitter	[ 90, 0, 188.4955222986 ]	null	0.15231	[ 0.1322770169, 0.1876353784 ]	false	0.000162	0	150	17.749002
cup_rot090_h02_e009	cup_rot090	cup	2	scan	[ 90, 0, 315 ]	null	0.15	[ 0.2, 0.15 ]	false	-0.327594	2	78	10.804992
cup_rot180_h03_e010	cup_rot180	cup	3	scan	[ 90, 0, 405 ]	null	0.15	[ 0.2, 0.15 ]	true	0.065867	0	150	19.441323
cup_rot180_h03_e011	cup_rot180	cup	3	scan	[ 90, 0, 405 ]	null	0.15	[ 0.2, 0.15 ]	true	0.065867	0	150	19.434455
cup_rot180_h03_e012	cup_rot180	cup	3	scan	[ 90, 0, 180 ]	null	0.15	[ 0.15, 0.2 ]	true	0.051417	0	150	19.292946
cup_rot180_h03_e013	cup_rot180	cup	3	scan	[ 90, 0, 180 ]	null	0.15	[ 0.15, 0.2 ]	true	0.055061	0	150	19.173862
cup_rot180_h03_e014	cup_rot180	cup	3	scan	[ 90, 0, 180 ]	null	0.15	[ 0.2, 0.15 ]	true	0.071223	0	150	19.217731
mug_0_tripo_rot000_h02_e015	mug_0_tripo_rot000	mug_0_tripo	2	scan	[ 90, 0, 0 ]	1.2	0.15	[ 0.2, 0.15 ]	false	-0.371328	0	27	4.268835
mug_0_tripo_rot000_h02_e016	mug_0_tripo_rot000	mug_0_tripo	2	jitter	[ 90, 0, 49.8020465412 ]	1.2	0.135312	[ 0.1404899043, 0.2145285294 ]	false	-0.287986	0	50	7.067866
mug_0_tripo_rot000_h02_e017	mug_0_tripo_rot000	mug_0_tripo	2	jitter	[ 90, 0, 75.8484813919 ]	1.2	0.141535	[ 0.2041525271, 0.1489405864 ]	false	-0.000013	0	150	18.349804
mug_0_tripo_rot000_h02_e018	mug_0_tripo_rot000	mug_0_tripo	2	rerot	[ 90, 0, 453.2215917715 ]	1.2	0.15	[ 0.15, 0.2 ]	true	0.112696	0	150	19.082552
mug_0_tripo_rot000_h02_e019	mug_0_tripo_rot000	mug_0_tripo	2	scan	[ 90, 0, 270 ]	1.2	0.15	[ 0.15, 0.2 ]	false	-0.150637	0	150	19.615576
mug_0_tripo_rot270_h02_e020	mug_0_tripo_rot270	mug_0_tripo	2	scan	[ 90, 0, 360 ]	1.2	0.15	[ 0.15, 0.2 ]	true	0.059167	0	150	20.073698
mug_0_tripo_rot270_h03_e021	mug_0_tripo_rot270	mug_0_tripo	3	jitter	[ 90, 0, 365.5590565509 ]	1.2	0.148311	[ 0.1341131524, 0.183613957 ]	false	0.001745	0	150	22.964869
mug_0_tripo_rot270_h02_e022	mug_0_tripo_rot270	mug_0_tripo	2	scan	[ 90, 0, 540 ]	1.2	0.15	[ 0.15, 0.2 ]	false	0	0	150	19.90817
mug_0_tripo_rot270_h03_e023	mug_0_tripo_rot270	mug_0_tripo	3	jitter	[ 90, 0, 352.2676164784 ]	1.2	0.160016	[ 0.1594401189, 0.2069373501 ]	true	0.094671	0	150	23.500547
mug_0_tripo_rot270_h03_e024	mug_0_tripo_rot270	mug_0_tripo	3	jitter	[ 90, 0, 358.9351595535 ]	1.2	0.165737	[ 0.2197507137, 0.1311023233 ]	false	-0.366538	0	133	22.098298
mug_1_tripo_rot000_h01_e025	mug_1_tripo_rot000	mug_1_tripo	1	scan	[ 90, 0, 45 ]	1.2	0.15	[ 0.15, 0.2 ]	false	0	0	150	18.669924
mug_1_tripo_rot000_h04_e026	mug_1_tripo_rot000	mug_1_tripo	4	jitter	[ 90, 0, 84.6655959662 ]	1.2	0.15819	[ 0.1488267969, 0.2147688871 ]	false	-0.000002	0	150	18.42774
mug_1_tripo_rot000_h01_e027	mug_1_tripo_rot000	mug_1_tripo	1	jitter	[ 90, 0, 94.3875176228 ]	1.2	0.167102	[ 0.1543605518, 0.2049950668 ]	false	-0.000001	1	150	19.850288
mug_1_tripo_rot000_h01_e028	mug_1_tripo_rot000	mug_1_tripo	1	jitter	[ 90, 0, 105.6801190813 ]	1.2	0.14225	[ 0.1628803286, 0.1897767431 ]	false	0	0	150	18.590939
mug_1_tripo_rot000_h04_e029	mug_1_tripo_rot000	mug_1_tripo	4	scan	[ 90, 0, 270 ]	1.2	0.15	[ 0.2, 0.15 ]	false	0.007798	3	150	21.098952
mug_1_tripo_rot270_h03_e030	mug_1_tripo_rot270	mug_1_tripo	3	scan	[ 90, 0, 360 ]	1.2	0.15	[ 0.15, 0.2 ]	true	0.056489	0	150	18.357481
mug_1_tripo_rot270_h03_e031	mug_1_tripo_rot270	mug_1_tripo	3	jitter	[ 90, 0, 361.5442603074 ]	1.2	0.146131	[ 0.1454853513, 0.2071852695 ]	false	0	2	150	19.776552
mug_1_tripo_rot270_h03_e032	mug_1_tripo_rot270	mug_1_tripo	3	scan	[ 90, 0, 540 ]	1.2	0.15	[ 0.15, 0.2 ]	false	0.000001	1	150	19.432518
mug_1_tripo_rot270_h03_e033	mug_1_tripo_rot270	mug_1_tripo	3	jitter	[ 90, 0, 353.1159499007 ]	1.2	0.149396	[ 0.1992551766, 0.1409859587 ]	true	0.13407	20	150	23.358091
mug_1_tripo_rot270_h03_e034	mug_1_tripo_rot270	mug_1_tripo	3	jitter	[ 90, 0, 358.9791759435 ]	1.2	0.140808	[ 0.2011257755, 0.1679943544 ]	false	-0.000003	0	150	19.507205
mug_2_tripo_rot000_h03_e035	mug_2_tripo_rot000	mug_2_tripo	3	jitter	[ 90, 0, 37.4222332564 ]	1.2	0.158221	[ 0.2106151696, 0.1679098935 ]	false	0.014611	0	150	20.689684
mug_2_tripo_rot000_h03_e036	mug_2_tripo_rot000	mug_2_tripo	3	jitter	[ 90, 0, 47.9519834203 ]	1.2	0.145244	[ 0.2107270616, 0.1529572848 ]	false	0.009942	10	150	20.602879
mug_2_tripo_rot000_h03_e037	mug_2_tripo_rot000	mug_2_tripo	3	jitter	[ 90, 0, 53.0947788552 ]	1.2	0.132516	[ 0.2131837263, 0.1638360371 ]	true	0.068395	0	150	19.126169
mug_2_tripo_rot000_h03_e038	mug_2_tripo_rot000	mug_2_tripo	3	jitter	[ 90, 0, 52.7648598069 ]	1.2	0.135211	[ 0.1970167022, 0.1650595974 ]	false	-0.130137	0	150	17.862907
mug_2_tripo_rot000_h03_e039	mug_2_tripo_rot000	mug_2_tripo	3	scan	[ 90, 0, 270 ]	1.2	0.15	[ 0.2, 0.15 ]	false	0.01578	0	150	20.909639
mug_2_tripo_rot270_h04_e040	mug_2_tripo_rot270	mug_2_tripo	4	scan	[ 90, 0, 360 ]	1.2	0.15	[ 0.2, 0.15 ]	false	0.007303	0	150	20.276526
mug_2_tripo_rot270_h04_e041	mug_2_tripo_rot270	mug_2_tripo	4	jitter	[ 90, 0, 366.0132251486 ]	1.2	0.166872	[ 0.208556419, 0.1406803412 ]	true	0.185337	0	150	21.224886
mug_2_tripo_rot270_h04_e042	mug_2_tripo_rot270	mug_2_tripo	4	scan	[ 90, 0, 495 ]	1.2	0.15	[ 0.15, 0.2 ]	true	0.030749	0	150	20.286688
mug_2_tripo_rot270_h02_e043	mug_2_tripo_rot270	mug_2_tripo	2	scan	[ 90, 0, 585 ]	1.2	0.15	[ 0.2, 0.15 ]	false	0.000873	0	150	20.300856
mug_2_tripo_rot270_h04_e044	mug_2_tripo_rot270	mug_2_tripo	4	jitter	[ 90, 0, 359.3626938243 ]	1.2	0.15162	[ 0.2167986196, 0.1471702126 ]	false	-0.062749	0	150	20.156456
mug_3_tripo_rot000_h04_e045	mug_3_tripo_rot000	mug_3_tripo	4	scan	[ 90, 0, 0 ]	null	0.15	[ 0.2, 0.15 ]	false	0.022515	5	150	21.402252
mug_3_tripo_rot000_h02_e046	mug_3_tripo_rot000	mug_3_tripo	2	scan	[ 90, 0, 45 ]	null	0.15	[ 0.15, 0.2 ]	true	0.222535	0	150	22.161815
mug_3_tripo_rot000_h02_e047	mug_3_tripo_rot000	mug_3_tripo	2	jitter	[ 90, 0, 52.1554786315 ]	null	0.144316	[ 0.1514658663, 0.2154315076 ]	false	0.011023	19	150	22.493884
mug_3_tripo_rot000_h02_e048	mug_3_tripo_rot000	mug_3_tripo	2	scan	[ 90, 0, 180 ]	null	0.15	[ 0.2, 0.15 ]	false	0.009743	0	150	23.052105
mug_3_tripo_rot000_h02_e049	mug_3_tripo_rot000	mug_3_tripo	2	scan	[ 90, 0, 315 ]	null	0.15	[ 0.15, 0.2 ]	false	-0.379474	5	88	12.002764
mug_3_tripo_rot270_h03_e050	mug_3_tripo_rot270	mug_3_tripo	3	scan	[ 90, 0, 360 ]	null	0.15	[ 0.15, 0.2 ]	true	0.187764	0	150	20.936136
mug_3_tripo_rot270_h00_e051	mug_3_tripo_rot270	mug_3_tripo	0	scan	[ 90, 0, 540 ]	null	0.15	[ 0.15, 0.2 ]	true	0.048112	5	150	20.45778
mug_3_tripo_rot270_h02_e052	mug_3_tripo_rot270	mug_3_tripo	2	scan	[ 90, 0, 315 ]	null	0.15	[ 0.15, 0.2 ]	false	-0.379474	5	88	11.914951
mug_3_tripo_rot270_h00_e053	mug_3_tripo_rot270	mug_3_tripo	0	jitter	[ 90, 0, 707.4538394989 ]	null	0.136082	[ 0.1610921319, 0.2076798867 ]	false	-0.00001	0	150	17.37253
mug_3_tripo_rot270_h00_e054	mug_3_tripo_rot270	mug_3_tripo	0	jitter	[ 90, 0, 713.6868651321 ]	null	0.148079	[ 0.1432412667, 0.209576746 ]	false	-0.146143	0	150	18.928211
mug_5_tripo_rot000_h03_e055	mug_5_tripo_rot000	mug_5_tripo	3	jitter	[ 90, 0, 37.9983156192 ]	1.2	0.153119	[ 0.1494648481, 0.215124518 ]	false	-0.085428	12	150	21.462198
mug_5_tripo_rot000_h03_e056	mug_5_tripo_rot000	mug_5_tripo	3	scan	[ 90, 0, 45 ]	1.2	0.15	[ 0.15, 0.2 ]	false	-0.146367	12	150	19.376653
mug_5_tripo_rot000_h03_e057	mug_5_tripo_rot000	mug_5_tripo	3	scan	[ 90, 0, 45 ]	1.2	0.15	[ 0.15, 0.2 ]	false	-0.146367	12	150	19.32301
mug_5_tripo_rot000_h03_e058	mug_5_tripo_rot000	mug_5_tripo	3	jitter	[ 90, 0, 44.7391245596 ]	1.2	0.160123	[ 0.1477261927, 0.1893300568 ]	false	-0.145767	17	150	19.936237
mug_5_tripo_rot000_h03_e059	mug_5_tripo_rot000	mug_5_tripo	3	scan	[ 90, 0, 270 ]	1.2	0.15	[ 0.2, 0.15 ]	false	-0.029458	32	150	23.277908
mug_5_tripo_rot270_h03_e060	mug_5_tripo_rot270	mug_5_tripo	3	scan	[ 90, 0, 360 ]	1.2	0.15	[ 0.15, 0.2 ]	false	-0.146396	0	150	20.082522
mug_5_tripo_rot270_h03_e061	mug_5_tripo_rot270	mug_5_tripo	3	jitter	[ 90, 0, 360.2665092984 ]	1.2	0.169176	[ 0.2187906332, 0.1523602339 ]	true	0.057698	13	150	21.791677
mug_5_tripo_rot270_h03_e062	mug_5_tripo_rot270	mug_5_tripo	3	scan	[ 90, 0, 540 ]	1.2	0.15	[ 0.2, 0.15 ]	false	-0.146383	6	150	18.726087
mug_5_tripo_rot270_h03_e063	mug_5_tripo_rot270	mug_5_tripo	3	jitter	[ 90, 0, 351.5097835361 ]	1.2	0.137704	[ 0.1928488728, 0.159403855 ]	false	-0.00144	0	150	20.696072
mug_5_tripo_rot270_h03_e064	mug_5_tripo_rot270	mug_5_tripo	3	jitter	[ 90, 0, 358.7927922531 ]	1.2	0.145774	[ 0.1876342653, 0.1697464847 ]	true	0.046485	0	150	19.902423
mug_7_tripo_rot270_h04_e065	mug_7_tripo_rot270	mug_7_tripo	4	scan	[ 90, 0, 585 ]	1.3	0.15	[ 0.15, 0.2 ]	false	-0.151316	0	150	18.503152
mug_7_tripo_rot270_h04_e066	mug_7_tripo_rot270	mug_7_tripo	4	scan	[ 90, 0, 315 ]	1.3	0.15	[ 0.2, 0.15 ]	false	-0.374397	0	33	4.998927
mug_7_tripo_rot270_h04_e067	mug_7_tripo_rot270	mug_7_tripo	4	scan	[ 90, 0, 315 ]	1.3	0.15	[ 0.15, 0.2 ]	false	-0.151307	0	150	18.844684
mug_7_tripo_rot270_h04_e068	mug_7_tripo_rot270	mug_7_tripo	4	scan	[ 90, 0, 315 ]	1.3	0.15	[ 0.2, 0.15 ]	false	-0.374397	0	33	4.924748
mug_7_tripo_rot270_h04_e069	mug_7_tripo_rot270	mug_7_tripo	4	rerot	[ 90, 0, 336.9519020669 ]	1.3	0.15	[ 0.15, 0.2 ]	true	0.031639	0	150	24.023848
mug_8_tripo_rot270_h03_e070	mug_8_tripo_rot270	mug_8_tripo	3	scan	[ 90, 0, 360 ]	1.2	0.15	[ 0.15, 0.2 ]	false	0.00484	2	150	21.580336
mug_8_tripo_rot270_h03_e071	mug_8_tripo_rot270	mug_8_tripo	3	scan	[ 90, 0, 495 ]	1.2	0.15	[ 0.2, 0.15 ]	false	0.000026	0	150	17.585397
mug_8_tripo_rot270_h03_e072	mug_8_tripo_rot270	mug_8_tripo	3	rerot	[ 90, 0, 324.4175320822 ]	1.2	0.15	[ 0.15, 0.2 ]	false	-0.132756	24	150	21.249341
mug_8_tripo_rot270_h03_e073	mug_8_tripo_rot270	mug_8_tripo	3	jitter	[ 90, 0, 350.5854667377 ]	1.2	0.15523	[ 0.1371083028, 0.1988746646 ]	false	-0.137977	0	150	18.629116
mug_8_tripo_rot270_h03_e074	mug_8_tripo_rot270	mug_8_tripo	3	jitter	[ 90, 0, 359.2825835129 ]	1.2	0.144683	[ 0.1846535448, 0.1670573137 ]	true	0.078529	0	150	21.078966
simple_mug_rot000_h02_e075	simple_mug_rot000	simple_mug	2	scan	[ 90, 0, 45 ]	1.2	0.15	[ 0.2, 0.15 ]	false	-0.063805	0	150	20.068472
simple_mug_rot000_h02_e076	simple_mug_rot000	simple_mug	2	scan	[ 90, 0, 90 ]	1.2	0.15	[ 0.15, 0.2 ]	false	-0.411165	0	39	5.362259
simple_mug_rot000_h02_e077	simple_mug_rot000	simple_mug	2	scan	[ 90, 0, 135 ]	1.2	0.15	[ 0.2, 0.15 ]	false	0.000202	0	150	17.355175
simple_mug_rot000_h02_e078	simple_mug_rot000	simple_mug	2	jitter	[ 90, 0, 135.6283452358 ]	1.2	0.132591	[ 0.2128383833, 0.1410097512 ]	false	-0.000758	0	150	18.477313
simple_mug_rot000_h02_e079	simple_mug_rot000	simple_mug	2	scan	[ 90, 0, 270 ]	1.2	0.15	[ 0.15, 0.2 ]	false	-0.176713	0	150	21.372577
simple_mug_rot090_h00_e080	simple_mug_rot090	simple_mug	0	jitter	[ 90, 0, 128.4933879119 ]	1.2	0.130198	[ 0.2102214251, 0.1490171368 ]	false	0.00016	0	150	17.388617
simple_mug_rot090_h00_e081	simple_mug_rot090	simple_mug	0	scan	[ 90, 0, 135 ]	1.2	0.15	[ 0.15, 0.2 ]	false	-0.176588	0	150	19.110414
simple_mug_rot090_h00_e082	simple_mug_rot090	simple_mug	0	jitter	[ 90, 0, 136.7592093572 ]	1.2	0.16875	[ 0.1962642596, 0.1541468627 ]	false	-0.354493	8	52	7.525696
simple_mug_rot090_h00_e083	simple_mug_rot090	simple_mug	0	jitter	[ 90, 0, 141.7928678042 ]	1.2	0.142904	[ 0.1336370323, 0.1841984934 ]	false	-0.06733	0	150	24.287187
simple_mug_rot090_h00_e084	simple_mug_rot090	simple_mug	0	scan	[ 90, 0, 180 ]	1.2	0.15	[ 0.2, 0.15 ]	false	-0.172471	0	150	19.554505
coffee_cup_rot180_h03_e000	coffee_cup_rot180	coffee_cup	3	scan	[ 90, 0, 450 ]	1.2	0.15	[ 0.2, 0.15 ]	false	-0.376486	0	48	7.100706
coffee_cup_rot180_h03_e001	coffee_cup_rot180	coffee_cup	3	jitter	[ 90, 0, 261.0220075063058 ]	1.2	0.14965	[ 0.13187634465987, 0.18334774801956824 ]	false	0.020273	0	150	23.613257
coffee_cup_rot180_h03_e002	coffee_cup_rot180	coffee_cup	3	scan	[ 90, 0, 270 ]	1.2	0.15	[ 0.15, 0.2 ]	true	0.033207	0	150	23.810223
coffee_cup_rot180_h03_e003	coffee_cup_rot180	coffee_cup	3	jitter	[ 90, 0, 630.0943228175692 ]	1.2	0.140302	[ 0.15504784867229193, 0.2103440505465775 ]	false	-0.353144	0	34	4.851082
coffee_cup_rot180_h03_e004	coffee_cup_rot180	coffee_cup	3	jitter	[ 90, 0, 643.3292299599158 ]	1.2	0.159755	[ 0.1559135029044731, 0.2148487476737599 ]	false	0.018677	0	150	22.774487
cup_rot090_h02_e005	cup_rot090	cup	2	scan	[ 90, 0, 360 ]	null	0.15	[ 0.15, 0.2 ]	false	0.000287	0	150	18.721421
cup_rot090_h02_e006	cup_rot090	cup	2	jitter	[ 90, 0, 170.11268907320203 ]	null	0.164026	[ 0.19280072976060483, 0.15634654971282796 ]	false	0.000007	0	150	18.159709
cup_rot090_h02_e007	cup_rot090	cup	2	jitter	[ 90, 0, 177.64381899466423 ]	null	0.149419	[ 0.15109261132398322, 0.2015735944678307 ]	false	0.000001	0	150	18.20342
cup_rot090_h02_e008	cup_rot090	cup	2	jitter	[ 90, 0, 188.4955222986015 ]	null	0.15231	[ 0.13227701686500754, 0.18763537836345173 ]	false	0.000162	0	150	17.749002
cup_rot090_h02_e009	cup_rot090	cup	2	scan	[ 90, 0, 315 ]	null	0.15	[ 0.2, 0.15 ]	false	-0.327594	2	78	10.804992
cup_rot180_h03_e010	cup_rot180	cup	3	scan	[ 90, 0, 405 ]	null	0.15	[ 0.2, 0.15 ]	true	0.065867	0	150	19.441323
cup_rot180_h03_e011	cup_rot180	cup	3	scan	[ 90, 0, 405 ]	null	0.15	[ 0.2, 0.15 ]	true	0.065867	0	150	19.434455
cup_rot180_h03_e012	cup_rot180	cup	3	scan	[ 90, 0, 180 ]	null	0.15	[ 0.15, 0.2 ]	true	0.051417	0	150	19.292946
cup_rot180_h03_e013	cup_rot180	cup	3	scan	[ 90, 0, 180 ]	null	0.15	[ 0.15, 0.2 ]	true	0.055061	0	150	19.173862
cup_rot180_h03_e014	cup_rot180	cup	3	scan	[ 90, 0, 180 ]	null	0.15	[ 0.2, 0.15 ]	true	0.071223	0	150	19.217731

End of preview.

SmolVLA Handle-Grasp Evaluation

Eval of yianW/smolvla_mug_grasp_handle.

How the eval was built

Each episode uses the exact scene parameters (object_euler, object_scale, pedestal_height, xy_offset) from a successful training trajectory (from handle_arm_reach_results.json and handle_rerot_jitter_results.json). Up to 5 diverse configs per (mug, base_rot) case, evenly sampled across the z-rotation range. One subprocess per episode so the Genesis morph is baked with the correct per-episode euler (previous eval reused one scene per mug and applied set_quat, which composed with the baked morph rotation and so didn't produce the intended world orientation).

Overall

21/85 = 24.7% success (lift object z > 3 cm within 150 steps).

Per-case results

Case	Success
`coffee_cup_rot180`	1/5 (20%)
`cup_rot090`	0/5 (0%)
`cup_rot180`	5/5 (100%)
`mug_0_tripo_rot000`	1/5 (20%)
`mug_0_tripo_rot270`	2/5 (40%)
`mug_1_tripo_rot000`	0/5 (0%)
`mug_1_tripo_rot270`	2/5 (40%)
`mug_2_tripo_rot000`	1/5 (20%)
`mug_2_tripo_rot270`	2/5 (40%)
`mug_3_tripo_rot000`	1/5 (20%)
`mug_3_tripo_rot270`	2/5 (40%)
`mug_5_tripo_rot000`	0/5 (0%)
`mug_5_tripo_rot270`	2/5 (40%)
`mug_7_tripo_rot270`	1/5 (20%)
`mug_8_tripo_rot270`	1/5 (20%)
`simple_mug_rot000`	0/5 (0%)
`simple_mug_rot090`	0/5 (0%)

Layout

Per-trial folders <case>_h<handle_idx>_e<ep_idx>/ each contain episode.mp4 (third-person video, 20 fps) and result.json (scene params + success + z_delta + step count). all_results.json is the concatenated list.

Task

Grasp mug by handle and lift

Downloads last month: 195

Total file size:

41.8 MB