[
  {
    "seed": 42000,
    "success": true,
    "steps": 411,
    "error": null,
    "session_id": "s_797cd10840bc4c8aaa37a471a0895573",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.09927603806230428,
        -0.231939386294895,
        0.014892244579783035
      ],
      "cube_speed": 4.01341787207483e-14,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.09927603806230428,
        -0.231939386294895,
        0.014892244579783035
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.09927603806230428,
          -0.231939386294895,
          0.014892244579783035
        ],
        "cube_speed": 4.01341787207483e-14,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.46124447272659747,
      "Pitch": -1.4771657243085288,
      "Elbow": 1.9425730493685842,
      "Wrist_Pitch": 1.030971357418442,
      "Wrist_Roll": -1.0968372493601546,
      "Jaw": 0.6968901971737298
    },
    "simulated_seconds": 13.700000000001245,
    "policy_calls": 52,
    "observation_latency_ms": {
      "median": 49.48561798664741,
      "p95": 51.11872751149349,
      "max": 182.5927539903205
    },
    "policy_latency_ms": {
      "median": 222.299455999746,
      "p95": 238.90561075968435,
      "max": 244.22946100821719
    },
    "api_step_latency_ms": {
      "median": 15.30056502087973,
      "p95": 17.276506987400353,
      "max": 115.1723790098913
    },
    "wall_seconds": 42.6868398610095
  },
  {
    "seed": 42001,
    "success": true,
    "steps": 401,
    "error": null,
    "session_id": "s_3f836e013622468c98524ebe9d2eb16a",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.10216264828134415,
        -0.23171495165769115,
        0.01489224457978212
      ],
      "cube_speed": 7.312741837182791e-14,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.10216264828134415,
        -0.23171495165769115,
        0.01489224457978212
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.10216264828134415,
          -0.23171495165769115,
          0.01489224457978212
        ],
        "cube_speed": 7.312741837182791e-14,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.48262595995657664,
      "Pitch": -1.4675132297938343,
      "Elbow": 1.9280050134838476,
      "Wrist_Pitch": 1.0555557162567855,
      "Wrist_Roll": -1.071513447115132,
      "Jaw": 0.6949735620234088
    },
    "simulated_seconds": 13.366000000001133,
    "policy_calls": 51,
    "observation_latency_ms": {
      "median": 49.143575015477836,
      "p95": 51.24593299115077,
      "max": 135.05870098015293
    },
    "policy_latency_ms": {
      "median": 230.4240459925495,
      "p95": 246.19329249253497,
      "max": 249.37967499135993
    },
    "api_step_latency_ms": {
      "median": 15.191462996881455,
      "p95": 16.185466025490314,
      "max": 20.44317199033685
    },
    "wall_seconds": 41.822263347014086
  },
  {
    "seed": 42002,
    "success": true,
    "steps": 377,
    "error": null,
    "session_id": "s_28ebbfabda6347469d0b66a8e0d5d71b",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.10336327431617982,
        -0.23175291091786374,
        0.014892244579781827
      ],
      "cube_speed": 8.703224736291946e-14,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.10336327431617982,
        -0.23175291091786374,
        0.014892244579781827
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.10336327431617982,
          -0.23175291091786374,
          0.014892244579781827
        ],
        "cube_speed": 8.703224736291946e-14,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.4833941515587538,
      "Pitch": -1.4628888404124627,
      "Elbow": 1.9092501074775174,
      "Wrist_Pitch": 1.0654021110719618,
      "Wrist_Roll": -1.0753024813310224,
      "Jaw": 0.69446253445201
    },
    "simulated_seconds": 12.566000000000866,
    "policy_calls": 48,
    "observation_latency_ms": {
      "median": 48.93602000083774,
      "p95": 51.02477160980925,
      "max": 139.4863220048137
    },
    "policy_latency_ms": {
      "median": 225.68900299665984,
      "p95": 231.94684870977653,
      "max": 237.45039399364032
    },
    "api_step_latency_ms": {
      "median": 15.074102993821725,
      "p95": 16.045630211010575,
      "max": 19.204418000299484
    },
    "wall_seconds": 38.58137479398283
  },
  {
    "seed": 42003,
    "success": true,
    "steps": 338,
    "error": null,
    "session_id": "s_92d99cf63cc34732a83ce2d4415444c7",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.10070460292472445,
        -0.23054278149925572,
        0.014892244579782152
      ],
      "cube_speed": 6.997094441059232e-14,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.10070460292472445,
        -0.23054278149925572,
        0.014892244579782152
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.10070460292472445,
          -0.23054278149925572,
          0.014892244579782152
        ],
        "cube_speed": 6.997094441059232e-14,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.4780220867579825,
      "Pitch": -1.4651013407920106,
      "Elbow": 1.9229990727887418,
      "Wrist_Pitch": 1.0653261672716106,
      "Wrist_Roll": -1.070865469704369,
      "Jaw": 0.6970567375386184
    },
    "simulated_seconds": 11.266000000000432,
    "policy_calls": 43,
    "observation_latency_ms": {
      "median": 49.13915050565265,
      "p95": 51.93238605861552,
      "max": 133.65451400750317
    },
    "policy_latency_ms": {
      "median": 228.6237879889086,
      "p95": 234.7031844954472,
      "max": 238.32501299330033
    },
    "api_step_latency_ms": {
      "median": 15.353308990597725,
      "p95": 16.488226751971524,
      "max": 20.059737988049164
    },
    "wall_seconds": 34.8567289240018
  },
  {
    "seed": 42004,
    "success": false,
    "steps": 600,
    "error": null,
    "session_id": "s_a1e1483ffa1a4a4c9ddcb97d17968948",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "final_object": {
      "position_m": [
        -0.11592006570719318,
        -0.24239134777414412,
        0.02435547847254414
      ],
      "bilateral_contact": true,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": false,
        "settled_s": 0.0,
        "success": false,
        "cube_position": [
          -0.11592006570719318,
          -0.24239134777414412,
          0.02435547847254414
        ],
        "cube_speed": 0.014302627516060588,
        "bilateral_contact": true
      }
    },
    "final_positions": {
      "Rotation": -0.5031035468266194,
      "Pitch": -1.8159870005120278,
      "Elbow": 2.862614280325028,
      "Wrist_Pitch": -0.3740173621883539,
      "Wrist_Roll": -0.9908332854047561,
      "Jaw": 0.19508415686325611
    },
    "simulated_seconds": 19.999999999999794,
    "policy_calls": 75,
    "observation_latency_ms": {
      "median": 49.40606449963525,
      "p95": 51.451668243680615,
      "max": 127.14796999352984
    },
    "policy_latency_ms": {
      "median": 227.8512550110463,
      "p95": 244.29946400341578,
      "max": 248.8880680175498
    },
    "api_step_latency_ms": {
      "median": 15.38994199654553,
      "p95": 16.746290103765205,
      "max": 22.11053599603474
    },
    "wall_seconds": 61.656335364008555
  },
  {
    "seed": 42005,
    "success": true,
    "steps": 396,
    "error": null,
    "session_id": "s_70e7f2c9bb82459ca508013dbd6aa37f",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.10012207590393969,
        -0.22593871995027612,
        0.01489224457977994
      ],
      "cube_speed": 1.5315006954494871e-13,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.10012207590393969,
        -0.22593871995027612,
        0.01489224457977994
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.10012207590393969,
          -0.22593871995027612,
          0.01489224457977994
        ],
        "cube_speed": 1.5315006954494871e-13,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.46897703279842895,
      "Pitch": -1.462866571327478,
      "Elbow": 1.9214166515112243,
      "Wrist_Pitch": 1.0590643612962845,
      "Wrist_Roll": -1.0830310381691586,
      "Jaw": 0.6718665041286643
    },
    "simulated_seconds": 13.200000000001078,
    "policy_calls": 50,
    "observation_latency_ms": {
      "median": 49.044200000935234,
      "p95": 51.5827950075618,
      "max": 135.71141599095426
    },
    "policy_latency_ms": {
      "median": 226.62349649181124,
      "p95": 237.77074195677415,
      "max": 241.94305299897678
    },
    "api_step_latency_ms": {
      "median": 15.260887506883591,
      "p95": 16.7265329946531,
      "max": 20.986734016332775
    },
    "wall_seconds": 40.55528500000946
  },
  {
    "seed": 42006,
    "success": true,
    "steps": 350,
    "error": null,
    "session_id": "s_a33287f9ac844bf2a0e92f2ec89c5e2f",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.09884299977413238,
        -0.22467976409763007,
        0.014892244579783291
      ],
      "cube_speed": 2.3748335693155082e-14,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.09884299977413238,
        -0.22467976409763007,
        0.014892244579783291
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.09884299977413238,
          -0.22467976409763007,
          0.014892244579783291
        ],
        "cube_speed": 2.3748335693155082e-14,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.4645114457182968,
      "Pitch": -1.464583911046423,
      "Elbow": 1.9205421110009568,
      "Wrist_Pitch": 1.064291567650629,
      "Wrist_Roll": -1.0889181717589564,
      "Jaw": 0.6824515043093614
    },
    "simulated_seconds": 11.666000000000565,
    "policy_calls": 44,
    "observation_latency_ms": {
      "median": 49.538100996869616,
      "p95": 51.18586660246365,
      "max": 130.5105210049078
    },
    "policy_latency_ms": {
      "median": 231.06584549532272,
      "p95": 242.02008234278765,
      "max": 255.71023099473678
    },
    "api_step_latency_ms": {
      "median": 15.1090724975802,
      "p95": 16.225996862340253,
      "max": 19.27727001020685
    },
    "wall_seconds": 36.2024747839896
  },
  {
    "seed": 42007,
    "success": true,
    "steps": 347,
    "error": null,
    "session_id": "s_cca175cf458245f5818d7ce53feaf5b6",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.10177604832509111,
        -0.23116198644161445,
        0.014892244579781909
      ],
      "cube_speed": 8.009116582074471e-14,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.10177604832509111,
        -0.23116198644161445,
        0.014892244579781909
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.10177604832509111,
          -0.23116198644161445,
          0.014892244579781909
        ],
        "cube_speed": 8.009116582074471e-14,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.48551867630414397,
      "Pitch": -1.4725801633975164,
      "Elbow": 1.938234093594775,
      "Wrist_Pitch": 1.057406188514695,
      "Wrist_Roll": -1.066808658827424,
      "Jaw": 0.6962400055769814
    },
    "simulated_seconds": 11.566000000000532,
    "policy_calls": 44,
    "observation_latency_ms": {
      "median": 49.47813099715859,
      "p95": 51.32146060350351,
      "max": 140.26120299240574
    },
    "policy_latency_ms": {
      "median": 227.5970890041208,
      "p95": 232.92025039554574,
      "max": 241.8165080016479
    },
    "api_step_latency_ms": {
      "median": 15.029800997581333,
      "p95": 15.98877088399604,
      "max": 19.446781021542847
    },
    "wall_seconds": 35.601968956005294
  },
  {
    "seed": 42008,
    "success": false,
    "steps": 600,
    "error": null,
    "session_id": "s_f5433fcd925e4adfa6e991fea11c78bf",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "final_object": {
      "position_m": [
        0.12125278636609407,
        -0.2332677333681105,
        0.01722552503804771
      ],
      "bilateral_contact": true,
      "task": {
        "grasped": true,
        "lifted": false,
        "contained": false,
        "released": false,
        "settled_s": 0.0,
        "success": false,
        "cube_position": [
          0.12125278636609407,
          -0.2332677333681105,
          0.01722552503804771
        ],
        "cube_speed": 0.0024740051000815954,
        "bilateral_contact": true
      }
    },
    "final_positions": {
      "Rotation": 0.5870031966236582,
      "Pitch": -1.4628534478053534,
      "Elbow": 1.9580345299978281,
      "Wrist_Pitch": 0.8113337746145145,
      "Wrist_Roll": -2.089126560026324,
      "Jaw": 0.2529627068285789
    },
    "simulated_seconds": 19.999999999999794,
    "policy_calls": 75,
    "observation_latency_ms": {
      "median": 49.28481600654777,
      "p95": 51.537125144386664,
      "max": 121.06335800490342
    },
    "policy_latency_ms": {
      "median": 225.83868200308643,
      "p95": 236.71302238944918,
      "max": 258.2469869812485
    },
    "api_step_latency_ms": {
      "median": 15.14310299535282,
      "p95": 16.260069294366986,
      "max": 20.037959999172017
    },
    "wall_seconds": 61.00339474302018
  },
  {
    "seed": 42009,
    "success": true,
    "steps": 348,
    "error": null,
    "session_id": "s_3f99f6eaa2d9409b9f134765f27ff1d6",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.09786908800709361,
        -0.22604451700168543,
        0.01489224457978368
      ],
      "cube_speed": 5.054282279726894e-15,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.09786908800709361,
        -0.22604451700168543,
        0.01489224457978368
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.09786908800709361,
          -0.22604451700168543,
          0.01489224457978368
        ],
        "cube_speed": 5.054282279726894e-15,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.4685913826104552,
      "Pitch": -1.4585706006523884,
      "Elbow": 1.9187474086988272,
      "Wrist_Pitch": 1.0799762037810385,
      "Wrist_Roll": -1.079651556560602,
      "Jaw": 0.6957789914966764
    },
    "simulated_seconds": 11.600000000000543,
    "policy_calls": 44,
    "observation_latency_ms": {
      "median": 48.42425251263194,
      "p95": 50.81758185697254,
      "max": 134.0203289873898
    },
    "policy_latency_ms": {
      "median": 226.18769299879204,
      "p95": 232.00619994604494,
      "max": 235.3651210141834
    },
    "api_step_latency_ms": {
      "median": 14.787409498239867,
      "p95": 15.859934303443879,
      "max": 18.966467992868274
    },
    "wall_seconds": 35.032462982984725
  },
  {
    "seed": 42010,
    "success": true,
    "steps": 396,
    "error": null,
    "session_id": "s_42a48f5a24cb4fb5af10097a9cdaf12c",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.09987860264563317,
        -0.22572246247426025,
        0.014892244579783656
      ],
      "cube_speed": 7.471377590927827e-15,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.09987860264563317,
        -0.22572246247426025,
        0.014892244579783656
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.09987860264563317,
          -0.22572246247426025,
          0.014892244579783656
        ],
        "cube_speed": 7.471377590927827e-15,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.48580174582334246,
      "Pitch": -1.459027346646586,
      "Elbow": 1.922647000440931,
      "Wrist_Pitch": 1.080678877984821,
      "Wrist_Roll": -1.0740844691826164,
      "Jaw": 0.69157082128774
    },
    "simulated_seconds": 13.200000000001078,
    "policy_calls": 50,
    "observation_latency_ms": {
      "median": 47.45036149688531,
      "p95": 50.64023249724414,
      "max": 136.6773690097034
    },
    "policy_latency_ms": {
      "median": 219.21545450459234,
      "p95": 233.85869722696953,
      "max": 237.6573270012159
    },
    "api_step_latency_ms": {
      "median": 14.880541988532059,
      "p95": 16.211840506002773,
      "max": 19.033280987059698
    },
    "wall_seconds": 38.07371226200485
  },
  {
    "seed": 42011,
    "success": true,
    "steps": 353,
    "error": null,
    "session_id": "s_439b3fd505434215bd86ba67f963197c",
    "policy_metadata": {
      "joint_names": [
        "Rotation",
        "Pitch",
        "Elbow",
        "Wrist_Pitch",
        "Wrist_Roll",
        "Jaw"
      ],
      "units": "radians",
      "returned_actions": "absolute_position",
      "cameras": [
        "front",
        "wrist"
      ],
      "observation_horizon": 1,
      "prediction_horizon": 40,
      "backend": "GrootBackend",
      "supports_committed_prefix": true,
      "torch_cpu_threads": 4,
      "joint_limit_projection_max_rad": 0.05,
      "checkpoint_sha256": "9bb09bc4fe31f86c72eef8f7e4821a8a176f25454b2bad164e1f9c4d1dfe97e5"
    },
    "api_capabilities": {
      "robot_id": "so100",
      "backend": "mujoco",
      "target": "simulation",
      "mujoco_version": "3.3.7",
      "model_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "scene": "groot_v3",
      "scene_sha256": "8ee9087e5eeb510184f9aeea05eb29cb8cc69405e7a42dca5dabf47813563a60",
      "timestep_seconds": 0.002,
      "joints": [
        {
          "name": "Rotation",
          "unit": "rad",
          "min": -1.92,
          "max": 1.92
        },
        {
          "name": "Pitch",
          "unit": "rad",
          "min": -3.32,
          "max": 0.17399999999999993
        },
        {
          "name": "Elbow",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 3.14
        },
        {
          "name": "Wrist_Pitch",
          "unit": "rad",
          "min": -1.66,
          "max": 1.66
        },
        {
          "name": "Wrist_Roll",
          "unit": "rad",
          "min": -2.79,
          "max": 2.79
        },
        {
          "name": "Jaw",
          "unit": "rad",
          "min": -0.17399999999999993,
          "max": 1.75
        }
      ],
      "cameras": [
        "front",
        "wrist"
      ],
      "image_size": [
        224,
        224
      ],
      "action_semantics": "absolute_joint_position_rad_at_30hz",
      "physical_hardware": false
    },
    "terminal_task": {
      "grasped": true,
      "lifted": true,
      "contained": true,
      "released": true,
      "settled_s": 0.500000000000167,
      "success": true,
      "cube_position": [
        -0.09895865701873235,
        -0.22771546981510768,
        0.01489224457978239
      ],
      "cube_speed": 6.091000830869723e-14,
      "bilateral_contact": false
    },
    "final_object": {
      "position_m": [
        -0.09895865701873235,
        -0.22771546981510768,
        0.01489224457978239
      ],
      "bilateral_contact": false,
      "task": {
        "grasped": true,
        "lifted": true,
        "contained": true,
        "released": true,
        "settled_s": 0.500000000000167,
        "success": true,
        "cube_position": [
          -0.09895865701873235,
          -0.22771546981510768,
          0.01489224457978239
        ],
        "cube_speed": 6.091000830869723e-14,
        "bilateral_contact": false
      }
    },
    "final_positions": {
      "Rotation": -0.46954066470632966,
      "Pitch": -1.4678385379596544,
      "Elbow": 1.93217074843198,
      "Wrist_Pitch": 1.0649724583145823,
      "Wrist_Roll": -1.0963895297051505,
      "Jaw": 0.6953273339193392
    },
    "simulated_seconds": 11.766000000000599,
    "policy_calls": 45,
    "observation_latency_ms": {
      "median": 48.66321798181161,
      "p95": 50.80630541779101,
      "max": 125.43936399742961
    },
    "policy_latency_ms": {
      "median": 226.78741498384625,
      "p95": 231.227963604033,
      "max": 239.68825599877164
    },
    "api_step_latency_ms": {
      "median": 14.992340002208948,
      "p95": 16.260521608637642,
      "max": 18.913580977823585
    },
    "wall_seconds": 35.78332961999695
  }
]