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cagataydev
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strands-isaaclab-reach-franka-policy

Robotics
ONNX
LeRobot
rsl_rl
isaaclab
isaac-sim
strands-robots
reinforcement-learning
franka
reach
ppo
agents
sim2sim
Eval Results (legacy)
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strands-isaaclab-reach-franka-policy
File size: 2,772 Bytes
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{
 "task": "Isaac-Reach-Franka",
 "checkpoint": "runs/c3_agent_sweep/1e-3_s1/logs/rsl_rl/reach_franka/2026-09-29_05-04-21_isaaclab-20260929-050417-05a8c9c0dbae/model_299.pt",
 "episodes_requested": 12,
 "frames": 360,
 "overrides": [],
 "cam": "fixed",
 "cam_name": "front",
 "res": [
  320,
  240
 ],
 "play_mode": true,
 "seed": 7,
 "cmd": "/home/ubuntu/strands-robots-isaac-test/isaaclab-research/.venv/bin/python examples/record_trained_policy.py --task Isaac-Reach-Franka --checkpoint runs/c3_agent_sweep/1e-3_s1/logs/rsl_rl/reach_franka/2026-09-29_05-04-21_isaaclab-20260929-050417-05a8c9c0dbae/model_299.pt --episodes 12 --frames 360 --cam fixed --cam_name front --eye 1.6,0.9,0.9 --target 0.4,0,0.3 --task_str reach the commanded end-effector pose --robot_type franka_panda --root rec/reach-franka/ds --repo_id cagataydev/strands-isaaclab-reach-franka",
 "actor_obs_groups": [
  "policy"
 ],
 "joint_names": [
  "panda_joint1",
  "panda_joint2",
  "panda_joint3",
  "panda_joint4",
  "panda_joint5",
  "panda_joint6",
  "panda_joint7",
  "panda_finger_joint1",
  "panda_finger_joint2"
 ],
 "action_names": [
  "arm_action.panda_joint1",
  "arm_action.panda_joint2",
  "arm_action.panda_joint3",
  "arm_action.panda_joint4",
  "arm_action.panda_joint5",
  "arm_action.panda_joint6",
  "arm_action.panda_joint7"
 ],
 "action_dim": 7,
 "fps": 30,
 "step_dt": 0.03333333333333333,
 "env_build_s": 15.9,
 "policy_obs_dim": 32,
 "jit_vs_rslrl_max_abs": 2.980232238769531e-07,
 "debug": [
  {
   "f": 0,
   "cam_pos_w0": [
    5.349999904632568,
    -1.600000023841858,
    0.8999999761581421
   ],
   "root_pos_w0": [
    3.75,
    -2.5,
    0.0
   ]
  },
  {
   "f": 1,
   "cam_pos_w0": [
    5.349999904632568,
    -1.600000023841858,
    0.8999999761581421
   ],
   "root_pos_w0": [
    3.75,
    -2.5,
    0.0
   ]
  },
  {
   "f": 10,
   "cam_pos_w0": [
    5.349999904632568,
    -1.600000023841858,
    0.8999999761581421
   ],
   "root_pos_w0": [
    3.75,
    -2.5,
    0.0
   ]
  }
 ],
 "policy_ms_per_step_all_envs": 4.1,
 "env_ms_per_step": 146.98,
 "playback_envs": [
  6,
  4,
  0,
  5
 ],
 "cam_mean": 207.83623842592593,
 "record_s": 6.8,
 "episodes_saved": 12,
 "kept_envs": [
  0,
  1,
  2,
  3,
  4,
  5,
  6,
  7,
  8,
  9,
  10,
  11
 ],
 "episode_len": [
  249,
  55,
  22,
  22,
  253,
  132,
  360,
  14,
  9,
  9,
  88,
  17
 ],
 "episode_return": [
  -0.829,
  0.05,
  0.213,
  0.264,
  -0.967,
  -0.229,
  -2.107,
  0.279,
  0.297,
  0.303,
  -0.06,
  0.252
 ],
 "episode_end": [
  "terminated",
  "terminated",
  "terminated",
  "terminated",
  "terminated",
  "terminated",
  "time_out",
  "terminated",
  "terminated",
  "terminated",
  "terminated",
  "terminated"
 ],
 "mean_return": -0.211,
 "total_frames": 1230,
 "total_wall_s": 91.1
}