1 CounterfactualStepResult

pose_generation.counterfactuals.CounterfactualStepResult(
    step_index,
    candidates,
    selected_valid_index,
    selected_shell_index,
    selection_score,
    selection_score_label='score',
    selection_scores=None,
    selection_policy='unknown',
    selection_temperature=None,
    selection_logits=None,
    selection_probabilities=None,
    selection_log_probabilities=None,
    selection_entropy=None,
    selected_log_probability=None,
    selection_rng_seed=None,
    selected_metrics=dict(),
    metric_vectors=dict(),
    selected_point_cloud_world=None,
    selected_depth_m=None,
    selected_depth_valid_mask=None,
    selected_depth_focal_px=None,
    selected_depth_principal_point_px=None,
    selected_depth_image_size_hw=None,
    target_eval_current_points_world=None,
    target_eval_candidate_points_world=None,
    target_eval_candidate_point_lengths=None,
    target_eval_crop_policy=None,
    target_eval_voxel_size_m=None,
    target_eval_max_points=None,
)

One selected rollout step.